Position planning for collaborating robots and its application in neurosurgery

Vidaković, Josip; Jerbić, Bojan; Švaco, Marko; Šuligoj, Filip; Šekoranja, Bojan

doi:10.17559/tv-20170213110534

Cited by 3 publications

(3 citation statements)

References 26 publications

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“…A detailed overview of the application of the positioning algorithm can be found. 27 This type of function developed for the RONNA G4 system forewarns the medical staff about the situations in which operative trajectories cannot be reached by the robot or are in collision; what can be a problem if the operative plan has a certain overlap between the trajectories. 28 RONNA has a mobile base enabling the neurosurgeon to position the robot such that the operative field is easily accessible to the surgeon and other personnel.…”

Section: The Preparation Phasementioning

confidence: 99%

Frameless stereotactic brain biopsy: A prospective study on robot‐assisted brain biopsies performed on 32 patients by using the RONNA G4 system

Dlaka

Švaco

Chudy

et al. 2021

Robotics Computer Surgery

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Background We present a novel robotic neuronavigation system (RONNA G4), used for precise preoperative planning and frameless neuronavigation, developed by a research group from the University of Zagreb and neurosurgeons from the University Hospital Dubrava, Zagreb, Croatia. The aim of study is to provide comprehensive error measurement analysis of the system used for the brain biopsy. Methods Frameless stereotactic robot‐assisted biopsies were performed on 32 consecutive patients. Post‐operative CT and MRI scans were assessed to precisely measure and calculate target point error (TPE) and entry point error (EPE). Results The application accuracy of the RONNA system for TPE was 1.95 ± 1.11 mm, while for EPE was 1.42 ± 0.74 mm. The total diagnostic yield was 96.87%. Linear regression showed statistical significance between the TPE and EPE, and the angle of the trajectory on the bone. Conclusion The RONNA G4 robotic system is a precise and highly accurate autonomous neurosurgical assistant for performing frameless brain biopsies.

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Section: The Preparation Phasementioning

confidence: 99%

Frameless stereotactic brain biopsy: A prospective study on robot‐assisted brain biopsies performed on 32 patients by using the RONNA G4 system

Dlaka

Švaco

Chudy

et al. 2021

Robotics Computer Surgery

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“…Our research group has developed a dual-arm robotic system for frameless stereotactic neurosurgery, RONNA G3. The main system components, registration procedure, and the overall operating procedure were first presented in [15] and the position planning strategies which search for the optimal placement of a neurosurgical robot in [16]. In the registration procedure, a rigid bone-implanted x-shaped frame, shown in Fig.…”

Section: Research Motivationmentioning

confidence: 99%

Fully Automated Point-Based Robotic Neurosurgical Patient Registration Procedure

Šuligoj¹,

Jerbić²,

Švaco³

et al. 2018

Int. j. simul. model.

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In this study, we have introduced a framework for an automatic patient registration procedure using freely distributed fiducial markers within a robot application in neurosurgery. The localization procedures in the image space and in the physical space are fully automated. We have developed a novel algorithm for finding the point pair correspondence between freely distributed fiducial markers in the image and in the physical space. The algorithm introduces a similarity matrix to maximize the possibility of successful point pairing and to remove the potential outlier points. The correspondence algorithm has been tested in 900,000 computer simulations and also on the real data from five laboratory phantom CT scans and twelve clinical patient CT scans, which were paired with 1415 readings captured with an optical tracking system. Testing of simulated point scenarios showed that the correspondence algorithm has a higher percentage of success when a larger number of fiducial markers and a lower number of outlier points were present. In the 24055 tests on the clinical data, there has been a 100 % success rate.

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“…In order to operate in the robot's optimal workspace region, the problem of robot base placement with respect to target points can strongly influence the dexterity of an articulated robotic arm. In our future research, robot localization strategies will be combined with position planning strategies which search for the optimal placement of a neurosurgical robot [27].…”

mentioning

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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Position planning for collaborating robots and its application in neurosurgery

Cited by 3 publications

References 26 publications

Frameless stereotactic brain biopsy: A prospective study on robot‐assisted brain biopsies performed on 32 patients by using the RONNA G4 system

Frameless stereotactic brain biopsy: A prospective study on robot‐assisted brain biopsies performed on 32 patients by using the RONNA G4 system

Fully Automated Point-Based Robotic Neurosurgical Patient Registration Procedure

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

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