Robot- and computer-assisted craniotomy (CRANIO): From active systems to synergistic man—machine interaction

Abstract

Computer and robot assistance in craniotomy/craniectomy procedures is intended to increase precision and efficiency of the removal of calvarial tumours, enabling the preoperative design and manufacturing of the corresponding implant. In the framework of the CRANIO project, an active robotic system was developed to automate the milling processes based on a predefined resection planning. This approach allows for a very efficient milling process, but lacks feedback of the intra-operative process to the surgeon. To better integrate the surgeon into the process, a new teleoperated synergistic architecture was designed. This enables the surgeon to realize changes during the procedure and use their human cognitive capabilities. The preoperative planning information is used as guidance for the user interacting with the system through a master-slave architecture. In this article, the CRANIO system is presented together with this new synergistic approach. Experiments have been performed to evaluate the accuracy of the system in active and synergistic modes for the bone milling procedure. The laboratory studies showed the general feasibility of the new concept for the selected medical procedure and determined the accuracy of the system. Although the integration of the surgeon partially reduces the efficiency of the milling process compared with a purely active (automatic) milling, it provides more feedback and flexibility to the user during the intra-operative procedure.

Advances in Robot-Assisted Surgery for Facial Bone Contouring Surgery

“…It used for personalized implant design and cranial robotic-assisted grinding resection. Although the team performed model tests and ex vivo tissue experiments, the robotic system was not tested in living body 38–46…”

“…Although the team performed model tests and ex vivo tissue experiments, the robotic system was not tested in living body. [38][39][40][41][42][43][44][45][46] In 2007, the group of Prof. Chengtao Wang and Guofang Shen started the development of a craniomaxillofacial deformity revision surgical robot. The linear speed of the intraoperative scalpel in the model test was 2 mm/s, the operation of the robotic arm was smooth, the surgical path matched well with the preoperative planned path, and the accuracy of the surgical trajectory reached within 1 mm.…”

Model Experimental Study of Man-Machine Interactive Robot-Assisted Craniotomy

“…Compared with the previous craniotomy robot system, 10 this system mainly innovates in the following 2 aspects: the modification of the main machine system of robot and the end of robotic arm. OTTO system, being the first craniofacial surgical robot in the world, is based on the design and modification of Staubli industrial robot.…”

Torque Reduction of a Reconfigurable Spherical Parallel Mechanism Based on Craniotomy Experimental Data

“…In [10], a new dedicated mechanism decoupling position and orientation motion was used for craniotomy procedures using simulated plastic skulls. "CRANIO", a dedicated robotic system, was also experimentally tested, as reported in [11]. Furthermore, a robotic system for keyhole craniotomy was presented in [12], based on reconfigurable hexapod kinematics and directly fixed to the patient's head.…”