The role of automatic computer-aided surgical trajectory planning in improving the expected safety of stereotactic neurosurgery

Abstract Purpose Minimal invasion computer-assisted neurosurgical procedures with various tool insertions into the brain may carry hemorrhagic risks and neurological deficits. The goal of this study is to investigate the role of computer-based surgical trajectory planning tools in improving the…

Reduced risk trajectory planning in image-guided keyhole neurosurgery

Abstract Purpose: The authors present and evaluate a new preoperative planning method and computer software designed to reduce the risk of candidate trajectories for straight rigid tool insertion in image-guided keyhole neurosurgery. Methods: Trajectories are computed based on the surgeon-defined…

Fiducial Optimization for Minimal Target Registration Error in Image-Guided Neurosurgery

Abstract This paper presents new methods for the optimal selection of anatomical landmarks and optimal placement of fiducial markers in image-guided neurosurgery. These methods allow the surgeon to optimally plan fiducial marker locations on routine diagnostic images before preoperative imaging…

Target and Trajectory Clinical Application Accuracy in Neuronavigation

Abstract BACKGROUND: Catheter, needle, and electrode misplacement in navigated neurosurgery can result in ineffective treatment and severe complications. OBJECTIVE: To assess the Ommaya ventricular catheter localization accuracy both along the planned trajectory and at the target. METHODS: We measured the…

Trajectory Planning with Augmented Reality for Improved Risk Assesment in Image-guided Keyhole Neurosurgery

Abstract We present a new preoperative planning method for reducing the risk associated with the insertion of straight tools in image-guided keyhole neurosurgery. The method quantifies the risks of multiple candidate trajectories and presents them on a physical model of…

Trajectory planning method for reduced patient risk in image-guided neurosurgery: concept and preliminary results

Abstract We present a new preoperative planning method to quantify and help reduce the risk associated with needle and tool insertion trajectories in image-guided keyhole neurosurgery. The goal is to quantify the risk of a proposed straight trajectory, and/or to…

A method for planning safe trajectories in image-guided keyhole neurosurgery

Abstract We present a new preoperative planning method for reducing the risk associated with insertion of straight tools in image-guided keyhole neurosurgery. The method quantifies the risks of multiple candidate trajectories and presents them on the outer head surface to…

Surface-based facial scan registration in neuronavigation procedures: a clinical study

Abstract Object. Surface-based registration (SBR) with facial surface scans has been proposed as an alternative for the commonly used fiducial-based registration in image-guided neurosurgery. Recent studies comparing the accuracy of SBR and fiducial-based registration have been based on a few…

Localization and registration accuracy in image guided neurosurgery: a clinical study

Abstract Purpose To measure and compare the clinical localization and registration errors in image-guided neurosurgery, with the purpose of revising current assumptions. Materials and methods Twelve patients who underwent brain surgeries with a navigation system were randomly selected. A neurosurgeon…

Optimal landmarks selection and fiducial marker placement for minimal target registration error in image-guided neurosurgery

Abstract We describe a new framework and method for the optimal selection of anatomical landmarks and optimal placement of fiducial markers in image-guided neurosurgery. The method allows the surgeon to optimally plan the markers locations on routine diagnostic images before…

Image-guided system with miniature robot for precise positioning and targeting in keyhole neurosurgery

Abstract This paper describes a novel image-guided system for precise automatic targeting in minimally invasive keyhole neurosurgery. The system consists of the MARS miniature robot fitted with a mechanical guide for needle, probe or catheter insertion. Intraoperatively, the robot is…

Miniature robot-based precise targeting system for keyhole neurosurgery: concept and preliminary results

Abstract This paper describes a novel system for precise automatic targeting in minimally invasive neurosurgery. The system consists of a miniature robot fitted with a rigid mechanical guide for needle, catheter, or probe insertion. Intraoperatively, the robot is directly affixed…

Robot-assisted image-guided targeting for minimally invasive neurosurgery: planning, registration, and in-vitro experiment

Abstract This paper is part of an ongoing effort to develop 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,…

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