“…These systems can be classified into 3 groups, the frame-based, the frameless and the iMRI-guided systems. The frame-based systems include the Leksell system (Elekta Instruments Inc., Sweden) [18,31,41], the Zamorano-Dujovny system (Stryker-Leibinger Inc., Germany) [19], the Riechert-Mundinger system (Innomed Pte Ltd., Germany) [20], the Cosman-Roberts-Wells system (Radionics Inc., USA) [17,39,42] and the Neuromate robot (Renishaw Inc., UK) [43]. The frameless systems include NexFrame (Image-Guided Neurologics Inc., USA) [21,26,32] and the STarFix microTargeting Platform (FHC Inc., USA) [22,27,44].…”