Concept and evaluation of a synergistic controlled robotic instrument for trepanation in neurosurgery

Korff, Alexander; Follmann, Axel; Fürtjes, Tobias; Habor, Daniel; Kunze, Sandra; Schmieder, Kirsten; Radermacher, Klaus

doi:10.1109/icra.2011.5979623

Cited by 10 publications

(11 citation statements)

References 16 publications

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“…In [18], the Semiautomatic Trepanation System (STS) for opening of the skull in neurosurgery is described. The instrument integrates a handheld soft tissue preserving saw which is controlled in one degree of freedom (depth).…”

Section: State Of the Artmentioning

confidence: 99%

Evaluation of a synergistic handheld instrument for resternotomy controlled by an integrated optical sensor

Korff

Jalowy

Mueller

et al. 2011

2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society

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Re-Sternotomy is an important part of many interventions in cardiac or thoracic surgery. It is performed close to critical structures such as the ascending aorta or the heart with an inherent high risk of serious damage. In this paper, a system for improving the safety of this surgical procedure is presented. A soft tissue preserving saw is combined with automatic depth regulation. The depth is controlled on the basis of the optical characteristics (visible light) of the tissue aligned to the saw blade, which is analyzed using a color sensor. Detection of the blades' position in the bone during the cutting process is possible through the integration of an optical fiber into the tip of the saw blade. The automatic depth control is realized using a hysteresis controller running on a real time system. To show the feasibility of this approach, the sensor technology was integrated into a prototypal sternal saw and evaluated on artificial bone. As part of the experiments the influence of water for cooling and dust particles from the process on the systems control stability were analyzed. The system performed stable and accurate. Future research will focus on the control algorithm and cadaver trials.

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Section: State Of the Artmentioning

confidence: 99%

Evaluation of a synergistic handheld instrument for resternotomy controlled by an integrated optical sensor

Korff

Jalowy

Mueller

et al. 2011

2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society

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“…The mechanism is ingenious, but it did not consider the rotation angle can be adjusted. Korff et al [8] studied a semiautomatic trephination system, where a soft tissue preserving saw combined with automatic adaptation of the cutting depth to protect the dura mater and reduce the bone gap. Taylor R et al [9] described a surgical robotic device integrated a unique sensor, and it may operate autonomously and evaluate the operation in real time by the state of tissues and disturbance information.…”

Section: Introductionmentioning

confidence: 99%

An evaluation on the operation parameters of trephine cutting cornea based on biomechanical response

Deng

Yao

et al. 2019

Preprint

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Background: The aim of this paper is to propose laws of trephine operation in order to obtain better microsurgical effects for keratoplasty. Methods: Based on a handheld trephine manipulator and a trephine robot integrated with the microforce sensor, the manual and robotic experiments are made taking porcine corneas as the test subjects. The effect of trephine operation parameters on the results reflected by biomechanical response and photomicrograph is discussed, and the parameters include linear velocity, rotating angle and angular velocity. Results: Using probability density functions, the distributions of the manual operation parameters show some randomness, and there is large fluctuation in the trephine force during the experiments. The biomechanical response shows regular trends in the robotic experiments even under different parameters, and compared to manual trephination, the robot may perform the operation of trephine cutting cornea more stably and produce a uniform cutting margin. Conclusions: Under different operation parameters, the cutting force shows different trends, and the optimal initial parameters that result in better trephine effects can be obtained based on the trends. Based on this derived law, the operation parameters can be set in robotic trephination, and the surgeons can also be specially trained to achieve a better microsurgical result.

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“…Based on the principle of synergistic cooperation, we developed a new concept, the Smart Trepanation System (STS). [6][7][8] It was developed to protect the dura mater and reduce the bone gap without disturbing the existing surgical workflow. The STS instrument is used freehand by the surgeon while automatically adjusting the cutting depth based on a preoperatively acquired computed tomography (CT) data set and the current position relative to the operation site tracked by a standard optical tracking system (►Fig.…”

Section: Introductionmentioning

confidence: 99%

Smart Trepanation System: Preclinical Analysis of Safety, Efficiency, and User Satisfaction

Fontana

Korff

Follmann

et al. 2014

J Neurol Surg A Cent Eur Neurosurg

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Concept and evaluation of a synergistic controlled robotic instrument for trepanation in neurosurgery

Cited by 10 publications

References 16 publications

Evaluation of a synergistic handheld instrument for resternotomy controlled by an integrated optical sensor

Evaluation of a synergistic handheld instrument for resternotomy controlled by an integrated optical sensor

An evaluation on the operation parameters of trephine cutting cornea based on biomechanical response

Smart Trepanation System: Preclinical Analysis of Safety, Efficiency, and User Satisfaction

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