Introduction to Haptics for Neurosurgeons

OBJECT Stereotactic biopsy procedures are an everyday part of neurosurgery. The procedure provides an accurate histological diagnosis with the least possible morbidity. Robotic stereotactic biopsy needs to be an accurate, safe, frameless, and rapid technique. This article reports the clinical results of a series of 100 frameless robotic biopsies using a Medtech ROSA device. METHODS The authors retrospectively analyzed their first 100 frameless stereotactic biopsies performed with the robotic ROSA device: 84 biopsies were performed by frameless robotic surface registration, 7 were performed by robotic bone fiducial marker registration, and 9 were performed by scalp fiducial marker registration. Intraoperative flat-panel CT scanning was performed concomitantly in 25 cases. The operative details of the robotic biopsies, the diagnostic yield, and mortality and morbidity data observed in this series are reported. RESULTS A histological diagnosis was established in 97 patients. No deaths or permanent morbidity related to surgery were observed. Six patients experienced transient neurological worsening. Six cases of bleeding within the lesion or along the biopsy trajectory were observed on postoperative CT scans but were associated with transient clinical symptoms in only 2 cases. Stereotactic surgery was performed with patients in the supine position in 93 cases and in the prone position in 7 cases. The use of fiducial markers was reserved for posterior fossa biopsy via a transcerebellar approach, via an occipital approach, or for pediatric biopsy. CONCLUSIONS ROSA frameless stereotactic biopsies appear to be accurate and safe robotized frameless procedures.

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“…The robot also has haptic abilities, 20 allowing it to be used as a supervisorycontrolled device as well as a shared-control device.…”

mentioning

confidence: 99%

Frameless robotic stereotactic biopsies: a consecutive series of 100 cases

Lefranc¹,

Capel²,

Pruvot-Occéan³

et al. 2015

JNS

108

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“…One study found that junior residents reported the most benefit from simulation with cadavers, followed by physical models and then haptic/computerized simulators. [2342] However, PGY-1 residents reportedly are least likely to be included in cadaveric simulation curriculum. [41] Interestingly, senior residents reported the most benefit from the computerized simulators, followed by cadavers and then physical models.…”

Section: Methodsmentioning

confidence: 99%

Simulation and resident education in spinal neurosurgery

Bohm

Arnold

2015

Surg Neurol Int

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Background:A host of factors have contributed to the increasing use of simulation in neurosurgical resident education. Although the number of simulation-related publications has increased exponentially over the past two decades, no studies have specifically examined the role of simulation in resident education in spinal neurosurgery.Methods:We performed a structured search of several databases to identify articles detailing the use of simulation in spinal neurosurgery education in an attempt to catalogue potential applications for its use.Results:A brief history of simulation in medicine is given, followed by current trends of spinal simulation utilization in residency programs. General themes from the literature are identified that are integral for implementing simulation into neurosurgical residency curriculum. Finally, various applications are reported.Conclusion:The use of simulation in spinal neurosurgery education is not as ubiquitous in comparison to other neurosurgical subspecialties, but many promising methods of simulation are available for augmenting resident education.

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“…Then the contact force has to be fed back to the surgeon through the interface used to guide the tool's insertion. [22] Moreover, haptic systems, in connection with virtual reality devices, can be a valuable tool for the training of surgeons [23] and also for the evaluation of the skills of the surgeon. [24] This is the robotic configuration adopted in the robotic system for neurosurgery (named DAANS) developed by our research group.…”

Section: The Robotized Radiological Treatmentmentioning

confidence: 99%

A delayed force-reflecting haptic controller for master–slave neurosurgical robots

Boscariol¹,

Gasparetto²,

Vidoni³

et al. 2015

Advanced Robotics

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This paper presents a new force-reflecting control system for master-slave haptic devices. This controller has been implemented and tested on the robotic systems for minimally invasive neurosurgery developed by our Research Group. Robot-assisted surgery is a very valuable treatment, since it allows benefits of high precision, accuracy, and repeatability of robotic devices. The proposed controller is meant to be used for master-slave haptic robotic surgery, but it can be used for any device that provides haptic feedback. The new controller merges the paradigms of force reflection (FR) control and delayed reference control. Unlike the FR control, the proposed solution enhances the safety since it does not allow an unwanted motion of the slave device once the operator releases the haptic controller. Experimental tests are provided to show the capabilities and the performance of the controller. Closed-loop stability is investigated both theoretically and experimentally. The analytic results on stability impose a limit on the ratio between the measured contact force and the sampling frequency of the closed-loop controller.

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Introduction to Haptics for Neurosurgeons

Cited by 30 publications

References 58 publications

Frameless robotic stereotactic biopsies: a consecutive series of 100 cases

Frameless robotic stereotactic biopsies: a consecutive series of 100 cases

Simulation and resident education in spinal neurosurgery

A delayed force-reflecting haptic controller for master–slave neurosurgical robots

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