Details
| Original language | English |
|---|---|
| Pages (from-to) | 137-149 |
| Number of pages | 13 |
| Journal | International journal of computer assisted radiology and surgery |
| Volume | 7 |
| Issue number | 1 |
| Publication status | Published - Jan 2012 |
Abstract
Purpose Precision skull surgery requires specialized instrumentation to satisfy demanding requirements in cochlear array implantation, deep brain stimulation electrode placement, and related applications.Aminiaturized reconfigurable parallel kinematic mechanism which can be directly mounted on a patient's skull was designed, built, and tested for precision skull surgery. Methods A Stewart-Gough platform is attached to a patient's skull so no optical tracking affecting the overall accuracy in keyhole surgery is required. Six bone anchors comprising the mechanism base joints are implanted at positions with sufficient skull thickness. Since no fixation frame is required, intervention planning flexibility is increased. The centers of the spherical shaped bone anchors can be localized accurately in the image space. An implicit registration to the physical space is performed by assembling the kinematics. Registration error is minimized compared to common optical tracker-based approaches. Due to the reconfigurable mechanism, an optimization of the hexapod's configuration is needed to maximize accuracy and mechanical stability during the incision. Mathematical simulation was conducted to estimate system performance. Results Simulation results revealed significant improvement in accuracy and stability when exploiting the redundant degrees of freedom and the implemented reconfigurability. Inaccurate localization of base points in the image data set was identified as the main source of error. A first prototype with passive prismatic actuators, i.e. micrometer calipers, was successfully built. Conclusions A head-mounted parallel kinematic device for high precision skull surgerywas developed that provides submillimetric accuracy in straight-line incisions. The system offers enhanced flexibility due to the absence of a rigid fixation frame.
Keywords
- Cochlear implant surgery, High precision skull surgery, Minimally invasive surgery, Robot-assisted surgery
ASJC Scopus subject areas
- Medicine(all)
- Surgery
- Engineering(all)
- Biomedical Engineering
- Medicine(all)
- Radiology Nuclear Medicine and imaging
- Computer Science(all)
- Computer Vision and Pattern Recognition
- Medicine(all)
- Health Informatics
- Computer Science(all)
- Computer Science Applications
- Computer Science(all)
- Computer Graphics and Computer-Aided Design
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In: International journal of computer assisted radiology and surgery, Vol. 7, No. 1, 01.2012, p. 137-149.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Design and Analysis of a Head-Mounted Parallel-Kinematic Device for Skull Surgery
AU - Kobler, Jan Philipp
AU - Kotlarski, Jens
AU - Öltjen, Julian
AU - Baron, Stephan
AU - Ortmaier, Tobias
PY - 2012/1
Y1 - 2012/1
N2 - Purpose Precision skull surgery requires specialized instrumentation to satisfy demanding requirements in cochlear array implantation, deep brain stimulation electrode placement, and related applications.Aminiaturized reconfigurable parallel kinematic mechanism which can be directly mounted on a patient's skull was designed, built, and tested for precision skull surgery. Methods A Stewart-Gough platform is attached to a patient's skull so no optical tracking affecting the overall accuracy in keyhole surgery is required. Six bone anchors comprising the mechanism base joints are implanted at positions with sufficient skull thickness. Since no fixation frame is required, intervention planning flexibility is increased. The centers of the spherical shaped bone anchors can be localized accurately in the image space. An implicit registration to the physical space is performed by assembling the kinematics. Registration error is minimized compared to common optical tracker-based approaches. Due to the reconfigurable mechanism, an optimization of the hexapod's configuration is needed to maximize accuracy and mechanical stability during the incision. Mathematical simulation was conducted to estimate system performance. Results Simulation results revealed significant improvement in accuracy and stability when exploiting the redundant degrees of freedom and the implemented reconfigurability. Inaccurate localization of base points in the image data set was identified as the main source of error. A first prototype with passive prismatic actuators, i.e. micrometer calipers, was successfully built. Conclusions A head-mounted parallel kinematic device for high precision skull surgerywas developed that provides submillimetric accuracy in straight-line incisions. The system offers enhanced flexibility due to the absence of a rigid fixation frame.
AB - Purpose Precision skull surgery requires specialized instrumentation to satisfy demanding requirements in cochlear array implantation, deep brain stimulation electrode placement, and related applications.Aminiaturized reconfigurable parallel kinematic mechanism which can be directly mounted on a patient's skull was designed, built, and tested for precision skull surgery. Methods A Stewart-Gough platform is attached to a patient's skull so no optical tracking affecting the overall accuracy in keyhole surgery is required. Six bone anchors comprising the mechanism base joints are implanted at positions with sufficient skull thickness. Since no fixation frame is required, intervention planning flexibility is increased. The centers of the spherical shaped bone anchors can be localized accurately in the image space. An implicit registration to the physical space is performed by assembling the kinematics. Registration error is minimized compared to common optical tracker-based approaches. Due to the reconfigurable mechanism, an optimization of the hexapod's configuration is needed to maximize accuracy and mechanical stability during the incision. Mathematical simulation was conducted to estimate system performance. Results Simulation results revealed significant improvement in accuracy and stability when exploiting the redundant degrees of freedom and the implemented reconfigurability. Inaccurate localization of base points in the image data set was identified as the main source of error. A first prototype with passive prismatic actuators, i.e. micrometer calipers, was successfully built. Conclusions A head-mounted parallel kinematic device for high precision skull surgerywas developed that provides submillimetric accuracy in straight-line incisions. The system offers enhanced flexibility due to the absence of a rigid fixation frame.
KW - Cochlear implant surgery
KW - High precision skull surgery
KW - Minimally invasive surgery
KW - Robot-assisted surgery
UR - http://www.scopus.com/inward/record.url?scp=84857636877&partnerID=8YFLogxK
U2 - 10.1007/s11548-011-0619-8
DO - 10.1007/s11548-011-0619-8
M3 - Article
AN - SCOPUS:84857636877
VL - 7
SP - 137
EP - 149
JO - International journal of computer assisted radiology and surgery
JF - International journal of computer assisted radiology and surgery
SN - 1861-6410
IS - 1
ER -