Application of Robotic Stereotactic Assisted Brain Surgery: A Summary Analysis

Yixing Song

doi:10.54097/rmyhz137

Authors

Yixing Song

DOI:

https://doi.org/10.54097/rmyhz137

Keywords:

Surgical robotics; trajectory planning; Brain surgery.

Abstract

Robots are used in various fields, and their accuracy can make brain surgery more successful. Developing robot-assisted surgery could also allow doctors to perform more difficult-to-perform operations. This thesis briefly describes the principle of stereotaxic directional robot in brain surgery. The lesions of patients are identified through digital images by means of medical imaging, then located by computer processing and planned trajectory. Finally, the operation is completed by robotic arm. In the following, this paper focuses on the differences in the characteristics of its own trajectory planning caused by the different algorithms and mathematical models used by Rosa robot, Neuromate robot and Remebot robot in trajectory planning through literature search and data search, and illustrates them with the latest clinical trials. The trajectory planning error of the three kinds of robots is small and does not affect the completion of the operation. The results show that the trajectory planning of the three kinds of robots has certain accuracy and flexibility. This paper aims to compare and analyze the different trajectory planning methods of three robots in order to study the possible development direction of trajectory planning.

Downloads

Download data is not yet available.

References

[1] Fankhauser H, Glauser D, Flury P, Piguet Y, Epitaux M, Favre J, Meuli R A. Robot for CT-Guided Stereotactic Neurosurgery. Stereotact Funct Neurosurg 31 December 1994; 63 (1-4): 93–98.

[2] Wurm R E, Erbel S, Schwenkert I, Gum F, Agaoglu D, Schild R, Schlenger L, Scheffler D, Brock M, Budach V. Novalis frameless image-guided noninvasive radiosurgery: initial experience. Neurosurgery. 2008 May, 62(5 Suppl): A11-7, discussion A17-8. doi: 10.1227/01.neu.0000325932.34154.82. PMID: 18580775.

[3] Neurosurgeon J. Second Ann. Symp. Parkinson’s Disease, 1966, vol. 24, pp. 430-481.

[4] Zlochowe A, Chow D S, Chang P, Khatri D, Boockvar J A, Filippi C G. Deep learning AI applications in the imaging of glioma, Topics in Magnetic Resonance Imaging 29 (2) (Apr. 2020) 115, https://doi.org/10.1097/ RMR.0000000000000237.

[5] Rowe M. An introduction to machine learning for clinicians, Academic Medicine 94 (10) (Oct. 2019) 1433–1436, https://doi.org/10.1097/ ACM.0000000000002792.

[6] Sarker I H. Deep learning: a comprehensive overview on techniques, taxonomy, applications and research directions, SN Comput Sci 2 (6), 2021, 420, https://doi.org/10.1007/s42979-021-00815-1

[7] Li Y H. Design of Robot Motion Control System Based on Artificial Intelligence Technology. Modern Electronic Technology, 2019, 47 (10): 117⁃122.

[8] Kurozumi K, Koizumi S, Oishi T, Neki H, Yamasaki T. AB028. Precision neurosurgery for brain tumors using robotic navigation under exoscope. Chin Clin Oncol. 2024 Aug, 13(Suppl 1): AB028. doi: 10.21037/cco-24-ab028. PMID: 39295346

[9] Cao Y T, Wang J T, Liu M M, et al. Robot poses synchronization trajectory planning method based on time optimization. ModularMachine Tool & Automatic Manufacturing Technique, 2024(2): 61 -65.

[10] Hu X W, An L X, Wang X L. Robot Trajectory Planning Based on GA Optimized RBF Neural Network 2020. DOI:10.16339/j.cnki.jsjsyzdh.202001004

[11] Lozouet M, Djrolo G, Mortier C, Derrey S. How i do it: Robot-assisted transcerebellar stereotactic approach for brainstem lesion. Acta Neurochir (Wien). 2024 Oct 1, 166(1):389. doi: 10.1007/s00701-024-06280-y. PMID: 39352443.

[12] Berscheid L, & Kröger T. Jerk-limited Real-time Trajectory Generation with Arbitrary Target States. 2021. ArXiv, abs/2105.04830.

[13] Luh H T, Zhu C, Kuo L T, Lo W L, Liu H W, Su Y K, Su I C, Lin C M, Lai D M, Hsieh S T, Lin M C, Huang A P. Application of robotic stereotactic assistance (ROSA) in spontaneous hematoma aspiration and thrombolysis catheter placement. J Formos Med Assoc. 11 June 2024, S0929-6646 (24): 00254-7. Doi: 10.1016 / j.j fma. 2024.05.018. Epub before printing. PMID: 38866694。

[14] Alan N, Lee P, Ozpinar A, Gross B A, Jankowitz B T. Robotic Stereotactic Assistance (ROSA) Utilization for Minimally Invasive Placement of Intraparenchymal Hematoma and Intraventricular Catheters. World Neurosurg. 2017 Dec, 108: 996.e7-996.e10. doi: 10.1016/j.wneu.2017.09.027. Epub 2017 Sep 14. PMID: 28919568.

[15] Li C, Wu S, Huang K, Li R, Jiang W, Wang J, Shu K, Lei T. A Comparison of the Safety, Efficacy, and Accuracy of Frame-Based versus Remebot Robot-Assisted Stereotactic Systems for Biopsy of Brainstem Tumors. Brain Sci. 2023 Feb 20, 13(2):362. doi: 10.3390/brainsci13020362. PMID: 36831906; PMCID: PMC9954386.