The Pathfinder image-guided surgical robot

Deacon, Glen B.; Harwood, Adam; Holdback, J; Maiwand, D.; Pearce, Margaret M.P.; Reid, Ian; Street, Mandie; Taylor, John

doi:10.1243/09544119jeim617

Cited by 39 publications

(18 citation statements)

References 28 publications

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“…• the Gross Positioner, GP, (PathFinder, Prosurgics Ldt, UK); a serial 6 DoFs arm, which is used to approach the patient head [13]; • the Fine Positioner, FP, (MARS, Mazor, Israel); a parallel 6 DoFs PKM, used to further correct the targeting. It is rigidly connected to the GP via a quick release interlock; • the Linear Actuator, LA; 1-DoF piezo-actuator, which makes the biopsy linear probe advance through a teleoperated haptic interface (Omega, Force Dimension, Switzerland) [14].…”

Section: A the Robotic Systemmentioning

confidence: 99%

Optically tracked multi-robot system for keyhole neurosurgery

Comparetti

Momi

Vaccarella

et al. 2011

2011 IEEE International Conference on Robotics and Automation

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Abstract-Robotic systems have been introduced in surgery to increase the intervention accuracy. In this framework, the ROBOCAST system is an optically controlled multi-robot chain aimed at enhancing the accuracy of surgical probe insertion during keyhole neurosurgery procedures. The system is composed by three robots, connected as a multiple kinematic chain (serial, parallel and linear) totaling 13 degrees of freedom (DoFs) and is it is used to automatically align the probe onto the desired trajectory.This paper presents an iterative approach for aligning the surgical probe with the planned target pose, reducing both the translation and the rotation errors. An experimental protocol was designed, in order to assess the system performances in terms of residual targeting errors and convergence ratio.The proposed targeting procedures allows obtaining (0.06 ± 0.02) mm and (0.8 ± 0.2) × 10 −3 rad as residual median errors, thus satisfying the operational requirements (1 mm). The performances proved to be independent upon the robots calibration accuracy.

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Section: A the Robotic Systemmentioning

confidence: 99%

Optically tracked multi-robot system for keyhole neurosurgery

Comparetti

Momi

Vaccarella

et al. 2011

2011 IEEE International Conference on Robotics and Automation

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“…Ltd) are placed near to the CT bed and are controlled to move to the target point through the surgical planning. In addition, there are ROSA from Medtech in France [34], Renaissance from Mazor Robotics in the United States, Pathfinder from Pathfinder Technologies [35], NeuroMate robotics from Renishaw in UK [36], B-Rob from ISYS Medizintechnik GmbH [37], etc. These systems have already demonstrated certain clinical effects.…”

Section: Conclusion and Discussionmentioning

confidence: 99%

Control Strategy and Experiments for Robot Assisted Craniomaxillofacial Surgery System

Cui

Wang

Duan

et al. 2019

Mathematical Problems in Engineering

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Since the intricate anatomical structure of the craniomaxillofacial region and the limitation of surgical field and instrument, the current surgery is extremely of high risk and difficult to implement. The puncturing operations for biopsy, ablation, and brachytherapy have become vital method for disease diagnosis and treatment. Therefore, a craniomaxillofacial surgery robot system was developed to achieve accurate positioning of the puncture needle and automatic surgical operation. Master-salve control and "kinematic + optics" hybrid automatic motion control based on navigation system, which is proposed in order to improve the needle positioning accuracy, were implemented for different processes of the operation. In addition, the kinematic simulation, kinematic parameters identification, positioning accuracy experiment (0.56 ± 0.21 mm), and phantom experiments (1.42 ± 0.33 mm, 1.62 ± 0.26 mm, and 1.41 ± 0.30 mm for biopsy, radiofrequency, and brachytherapy of phantom experiments) were conducted to verify the feasibility of the hybrid automatic control method and evaluate the function of the surgical robot system.

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“…A 6 DoF robotic arm is installed on a mobile and stable platform, which can be easily moved around the operating room and firmly fixed to the Mayfied during surgery. One of Pathfinder trademarks lies in the fiducial markers (reflectors) attached to the patient's scalp or skull, and their continuous tracking using an embedded vision system to register the robot to the intraoperative space [42]. These markers consist of a black titanium sphere, coated in a reflective material, which is easily visible in CT scans and by the camera system [41], [43].…”

Section: State-of-the-art Robotic Systemsmentioning

confidence: 99%

“…Furthermore, the robot can be repositioned in the operating room without the need to rescan or replan [45]. External fiducial markers allow the robotic system to constantly track its position in relation to the patient, thus solving one of the greatest issues regarding preoperative image guided robots, and relieving the need for intraoperative online image scans [41], [42]. The most commonly reported problems with the Pathfinder system are: possible skin movements between preoperative and intraoperative scans, and registration failures caused by the misidentification of markers due to abnormal lighting conditions [41].…”

Section: State-of-the-art Robotic Systemsmentioning

confidence: 99%

Review of Robotic Technology for Stereotactic Neurosurgery

Faria

Erlhagen

Rito

et al. 2015

IEEE Rev. Biomed. Eng.

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The research of stereotactic apparatus to guide surgical devices began in 1908, yet a major part of today's stereotactic neurosurgeries still rely on stereotactic frames developed almost half a century ago. Robots excel at handling spatial information, and are, thus, obvious candidates in the guidance of instrumentation along precisely planned trajectories. In this review, we introduce the concept of stereotaxy and describe a standard stereotactic neurosurgery. Neurosurgeons' expectations and demands regarding the role of robots as assistive tools are also addressed. We list the most successful robotic systems developed specifically for or capable of executing stereotactic neurosurgery. A critical review is presented for each robotic system, emphasizing the differences between them and detailing positive features and drawbacks. An analysis of the listed robotic system features is also undertaken, in the context of robotic application in stereotactic neurosurgery. Finally, we discuss the current perspective, and future directions of a robotic technology in this field. All robotic systems follow a very similar and structured workflow despite the technical differences that set them apart. No system unequivocally stands out as an absolute best. The trend of technological progress is pointing toward the development of miniaturized cost-effective solutions with more intuitive interfaces.

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The Pathfinder image-guided surgical robot

Cited by 39 publications

References 28 publications

Optically tracked multi-robot system for keyhole neurosurgery

Optically tracked multi-robot system for keyhole neurosurgery

Control Strategy and Experiments for Robot Assisted Craniomaxillofacial Surgery System

Review of Robotic Technology for Stereotactic Neurosurgery

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