Neurosurgical Robotic Guidance System using Visual Servoing
- Neurosurgical Robotic Guidance System using Visual Servoing
- 이득희; 임성환; 조현철; 신상균; 박세형
- Robotic guidance; Visual servo
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- Many neurosurgical procedures including intracerebral hemorrhage (ICH) removals and deep brain stimulations (DBS) usually use stereotactic frames in order to accurately access pre-planned target regions. Stereotactic frames are fixed on patients’ skulls invasively. Additional CT or MR scans are required for the registration of the target regions in the stereotactic frames. In this paper, we propose new guiding system to access target regions accurately in the manners of non-invasive and non-ionizing methods. In this system, pre-operative planning is done under 3D reconstructive patient model. A face registration method between the 3D pre-operative models and face scan data of intra-operative patients has been implemented using ICP (Iterative Closest Points) algorithm. Then visual servo control methods are applied for the positioning of the guiding robot. In-vitro phantom experiments have shown the usability of this system. In conclusion, the developed system has the advantages of being non-invasive, a short total operation time, and low radiation exposure compared to conventional ICH surgery.
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