Design and Evaluation of the Motor Assisted Robotic Stereotaxy System {MARS}

Type of publication:  Doktorarbeit
Jahr: 2012
Schule: Institute for Robotics and Cognitive Systems, University of Lübeck
Notiz: Stereotactic Micronavigation
Abriss: The scope of this thesis is the development and clinical evaluation of a robotic system for stereotactic neurosurgery. Furthermore, a new intracranial localization method for neurosurgical instruments is presented. Potential clinical applications for the robot are brain biopsies, e.g. for tumors or deep brain stimulation, e.g. in the treatment of Parkinson's disease. The requirements for a new hybrid robotic system are derived from a detailed analysis of existing manual and robotic stereotactic systems. The aim of the development is to combine the advantages of the two approaches and to enable both, manual and automatic positioning. The core of this work is the development and implementation of the Motor Assisted Robotic Stereotaxy system, short MARS. The kinematic chain of the MARS consists of ve axes. Their alignment is similar to that of the clinically established ZD stereotaxy system from the industrial partner inomed Medizintechnik GmbH. The actuators, sensors and other components as well as the mechanical and electrical design of the MARS are described in detail. The MARS is evaluated in numerous experiments regarding its suitability for surgical interventions. Therefore, its absolute accuracy and repeatability are measured. Then, the electromagnetic compatibility of the system with other devices in the operating theater is validated and its application accuracy is determined in a simulated surgery. After successful testing, the MARS is clinically evaluated in a brain tumor biopsy. The second part of the thesis addresses the localization of instruments in the brain. Various error sources such as probe-tissue interaction during surgery can cause a deviation of the instrument from the planned trajectory with potentially fatal consequences. Continuous monitoring of the position of the instrument is hence of great relevance in neurosurgical interventions. A method for localization of probes based on static magnetic elds is developed and evaluated. The localization method is characterized by its high spatial resolution and the fact that it does not require additional components in the brain of the patient. In summary, the MARS presents a highly accurate, safe and mobile tool for stereotactic neurosurgery. The successful clinical evaluation of the robot and its combination with the magnetic localization method emphasize the quality of the system.
Nutzerfelder: file={h_12.pdf:h_12.pdf:PDF}
Autoren: Heinig, Max
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