Robot-Assisted Image-Guided Targeting for Minimally Invasive Neurosurgery: Planning, Registration, and In-vitro Experiment

This paper present a novel image-guided system for precise automatic targeting in keyhole minimally invasive neurosurgery. The system consists of a miniature robot fitted with a mechanical guide for needle/probe insertion. Intraoperatively, the robot is directly affixed to a head clamp or to the patient skull. It automatically positions itself with respect to predefined targets in a preoperative CT/MRI image following an anatomical registration with a intraoperative 3D surface scan of the patient facial features. We describe the preoperative planning and registration modules, and an in-vitro registration experiment of the entire

• Type: Conference
• Year: 2005
• Where: MICCAI
• Authors: Ruby Shamir, Moti Freiman, Leo Joskowicz, Moshe Shoham, Ephraim Zehavi, Y. Shoshan
• Keywords: Intraoperative 3D Surface, Medical Imaging, MICCAI 2005, Preoperative Ct/mri Image, Preoperative Planning