RONNA G4—Robotic Neuronavigation: A Novel Robotic Navigation Device for Stereotactic Neurosurgery

Jerbić, Bojan; Švaco, Marko; Chudy, Darko; Šekoranja, Bojan; Šuligoj, Filip; Vidaković, Josip; Dlaka, Domagoj; Vitez, Nikola; Zupančić, I.; Drobilo, Luka; Turković, Marija; Žgaljić, Adrian; Kajtazi, Marin; Stiperski, Ivan

doi:10.1016/b978-0-12-814245-5.00035-9

Cited by 10 publications

(6 citation statements)

References 62 publications

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“…Furthermore, it is necessary to avoid functional and eloquent brain FIGURE 1 | Avoiding all visible vessels is critical in stereotactic planning. (A) A 3D reconstruction of human cerebral arterial system with a planned trajectory depicted in yellow-the planned trajectory is shown from the stereotactic planning module RONNAplan (Jerbić et al, 2020); (B) a 3D reconstruction of a time of flight magnetic resonance angiography showing a complete vascular system of the human brain; (C) a 3D MRI reconstruction of left cerebral hemisphere with eloquent brain areas marked in colors (green-motor area, red-sensory area, blue-visual area, orange-Broca's area, and purple-Wernicke's area).…”

Section: Introductionmentioning

confidence: 99%

Stereotactic Neuro-Navigation Phantom Designs: A Systematic Review

et al. 2020

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Diverse stereotactic neuro-navigation systems are used daily in neurosurgery and novel systems are continuously being developed. Prior to clinical implementation of new surgical tools, methods or instruments, in vitro experiments on phantoms should be conducted. A stereotactic neuro-navigation phantom denotes a rigid or deformable structure resembling the cranium with the intracranial area. The use of phantoms is essential for the testing of complete procedures and their workflows, as well as for the final validation of the application accuracy. The aim of this study is to provide a systematic review of stereotactic neuro-navigation phantom designs, to identify their most relevant features, and to identify methodologies for measuring the target point error, the entry point error, and the angular error (α). The literature on phantom designs used for evaluating the accuracy of stereotactic neuro-navigation systems, i.e., robotic navigation systems, stereotactic frames, frameless navigation systems, and aiming devices, was searched. Eligible articles among the articles written in English in the period 2000-2020 were identified through the electronic databases PubMed, IEEE, Web of Science, and Scopus. The majority of phantom designs presented in those articles provide a suitable methodology for measuring the target point error, while there is a lack of objective measurements of the entry point error and angular error. We identified the need for a universal phantom design, which would be compatible with most common imaging techniques (e.g., computed tomography and magnetic resonance imaging) and suitable for simultaneous measurement of the target point, entry point, and angular errors.

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Section: Introductionmentioning

confidence: 99%

Stereotactic Neuro-Navigation Phantom Designs: A Systematic Review

et al. 2020

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“…After the robot positioning has been completed, autonomous localisation of the patient in the physical space is performed using the RONNAstereo sensory system (Figure 1E). The system was developed to achieve accurate localisation in the physical space 29 and further upgraded later on 15 . In the latest generation of the RONNAstereo sensory system, we have used two board level infrared cameras (uEye U3‐3241LE‐NIR‐GL, IDS, Germany) with an infrared bandpass filter which improves the robustness of the localisation procedure in the physical space, and an onboard computer for image acquisition and image processing.…”

Section: Sequence Of Operations In Neurosurgical Procedures With Ronnamentioning

confidence: 99%

“…The system was developed to achieve accurate localisation in the physical space 29 and further upgraded later on. 15 In the latest generation of the RON-NAstereo sensory system, we have used two board level infrared cameras (uEye U3-3241LE-NIR-GL, IDS, Germany) with an infrared bandpass filter which improves the robustness of the localisation procedure in the physical space, and an onboard computer for image acquisition and image processing. The process of automatic localisation of the patient in the operating room (physical space) is divided into three steps: image preprocessing, automatic brightness adjustment, and circle detection.…”

Section: The Preparation Phasementioning

confidence: 99%

“…After extensive research and the development of the RONNA project in the last ten years, the research group from the Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, and the team of neurosurgeons from the University Hospital Dubrava, School of Medicine, University of Zagreb, Croatia, developed the fourth generation of the robotic neuronavigation system RONNA G4. 15 One of the main goals of the project was to improve the targeting accuracy in stereotactic biopsies. [16][17][18] Our current system, RONNA G4, has multiple software and hardware improvements with respect to the previous RONNA G3 generation, that ensures highly accurate frameless stereotactic procedures.…”

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confidence: 99%

“…The absolute accuracy of the robot arm has increased significantly while evaluated on a laboratory test-bed setup. A detailed description of the calibration process is presented in Drobilo et al 20 Interested readers can also read the paper from Jerbić et al 15 for an in-depth explanation of all RONNA G4 improvements.…”

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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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