Brain biopsy performed with the RONNA G3 system: a case study on using a novel robotic navigation device for stereotactic neurosurgery

Dlaka, Domagoj; Švaco, Marko; Chudy, Darko; Jerbić, Bojan; Šekoranja, Bojan; Šuligoj, Filip; Vidaković, Josip; Almahariq, Fadi; Romić, Dominik

doi:10.1002/rcs.1884

Cited by 21 publications

(22 citation statements)

References 28 publications

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“…The operative phase consists of instrument navigation and targeting within the intracranial space. The targeting accuracy, which ensures the technical success of the stereotactic procedure and the patient's safety, is of crucial importance for clinical application; it is assessed in a number of phantom and patient studies (Widmann and Bale, 2006;Lozano, 2009;Widmann et al, 2009;Cardinale et al, 2013;González-Martínez et al, 2016;Švaco et al, 2017a,b;Dlaka et al, 2018). Phantom features, i.e., the distribution of localization and targeting elements, should correspond as close as possible to those used in actual operation procedures performed on patients.…”

Section: Introductionmentioning

confidence: 99%

“…(A) An ideal probe position with no errors; (B) A scenario with LoTPE, LaTPE, α, and EPE; (C) TPE and α are of the same magnitude, but the EPE is much greater due to the alignment of the lateral errors. González-Martínez et al, 2016;Dlaka et al, 2018). For measuring the EPE in a clinical scenario, image fusion of the postoperative CT scan and the preoperative CT or MRI scans can be made.…”

Section: Introductionmentioning

confidence: 99%

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Stereotactic Neuro-Navigation Phantom Designs: A Systematic Review

et al. 2020

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Diverse stereotactic neuro-navigation systems are used daily in neurosurgery and novel systems are continuously being developed. Prior to clinical implementation of new surgical tools, methods or instruments, in vitro experiments on phantoms should be conducted. A stereotactic neuro-navigation phantom denotes a rigid or deformable structure resembling the cranium with the intracranial area. The use of phantoms is essential for the testing of complete procedures and their workflows, as well as for the final validation of the application accuracy. The aim of this study is to provide a systematic review of stereotactic neuro-navigation phantom designs, to identify their most relevant features, and to identify methodologies for measuring the target point error, the entry point error, and the angular error (α). The literature on phantom designs used for evaluating the accuracy of stereotactic neuro-navigation systems, i.e., robotic navigation systems, stereotactic frames, frameless navigation systems, and aiming devices, was searched. Eligible articles among the articles written in English in the period 2000-2020 were identified through the electronic databases PubMed, IEEE, Web of Science, and Scopus. The majority of phantom designs presented in those articles provide a suitable methodology for measuring the target point error, while there is a lack of objective measurements of the entry point error and angular error. We identified the need for a universal phantom design, which would be compatible with most common imaging techniques (e.g., computed tomography and magnetic resonance imaging) and suitable for simultaneous measurement of the target point, entry point, and angular errors.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Stereotactic Neuro-Navigation Phantom Designs: A Systematic Review

et al. 2020

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“…Current documentations of error during stereotactic procedures are in the range of 2 mm. 6,7 Newer techniques and developments are expected to reduce the errors further as more and more automation enters into the workflow. 5,8,9 Sources of error in robotic stereotactic procedures have been studied in detail.…”

Section: Error and Its Minimization In Functional Neurosurgerymentioning

confidence: 99%

“…All these systems have been used for functional neurosurgical procedures. The Ronna G3 ( University of Zagreb, Croatia) 7 and iSYS1 (iSYS Medizintechnik) 5 are newer systems for stereotactic applications.…”

Section: Robots In Functional Neurosurgerymentioning

confidence: 99%

An Overview of Robotics in Functional Neurosurgery

Vazhayil

Rao

Beniwal

et al. 2019

IJNS

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Stereotactic techniques are used in a wide range of neurosurgical procedures. The procedures demand a high degree of spatial accuracy and minimal error. There are diverse functional surgeries that require stereotactic procedures, including deep brain stimulation, brain biopsies, and epilepsy procedures. Though the disease processes are diverse, all these procedures require accurate targeting of deep structures without visual guidance. The use of robots for stereotactic procedures is a natural progression in the surgeon's quest for higher accuracy and lower complications. This paper reviews the role of robots in stereotactic procedures and outlines current status of robots in stereotactic procedures. The shortcomings of current systems and an outline of an ideal stereotactic device are presented.

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“…Of all the above-mentioned methods, the method using bone-attached fiducial markers provides the highest degree of application and targeting accuracy. Bone-attached fiducial markers and rigid body registration are used with the RONNA system [12] and in this study. Major factors influencing the registration accuracy are fiducial marker type, the spatial distribution of fiducials, the number of fiducials used and the accuracy of the localization method.…”

Section: Introductionmentioning

confidence: 99%

Influence of the Localization Strategy on the Accuracy of a Neurosurgical Robot System

Šuligoj

Jerbić

Šekoranja

et al. 2018

TFAMENA

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SummaryPrecise navigation of surgical instruments is one of the most important features of autonomous surgical robots. In this paper, we introduce a concept of robot localization strategy and analyse its influence on the overall application error of a robot system for frameless stereotactic neurosurgery named RONNA. Localization strategies utilize specific angles at which the robot can approach a target point, orientations, and types of movement during the procedure of physical space fiducial marker localization and positioning to the target points. The localization strategies developed in this study are a neutral orientation strategy (NOS), an orientation correction strategy (OCS) and a joint displacement minimization strategy (JDMS). To evaluate the robot positioning performance with the localization strategies applied, we performed laboratory phantom measurements using a different number of fiducial markers in the registration procedure. When three, four, and five fiducial markers were used, the application error for the NOS was 1.571±0.256 mm, 1.397±0.283 mm, and 1.327±0.274 mm, and for the OCS, it was 0.429±0.133 mm, 0.284±0.068mm, and 0.260±0.076 mm, respectively. The application error for the JDMS was 0.493±0.176 mm with four and 0.369±0.160 mm with five fiducial markers used.

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Brain biopsy performed with the RONNA G3 system: a case study on using a novel robotic navigation device for stereotactic neurosurgery

Abstract: Background: Robotic neuronavigation is becoming an important tool for neurosurgeons. We

Cited by 21 publications

References 28 publications

Stereotactic Neuro-Navigation Phantom Designs: A Systematic Review

Stereotactic Neuro-Navigation Phantom Designs: A Systematic Review

An Overview of Robotics in Functional Neurosurgery

Influence of the Localization Strategy on the Accuracy of a Neurosurgical Robot System

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