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Robotics in neurosurgery: state of the art and future technological challenges.

Zamorano L, Li Q, Jain S, Kaur G.

Neurological Surgery Department, Wayne State University, Detroit, Michigan, USA. lzamorano@med.wayne.edu

The use of robotic technologies to assist surgeons was conceptually described almost thirty years ago but has only recently become feasible. In Neurosurgery, medical robots have been applied to neurosurgery for over 19 years. Nevertheless this field remains unknown to most neurosurgeons. The intrinsic characteristics of robots, such as high precision, repeatability and endurance make them ideal surgeon's assistants. Unfortunately, limitations in the current available systems make its use limited to very few centers in the world. During the last decade, important efforts have been made between academic and industry partnerships to develop robots suitable for use in the operating room environment. Although some applications have been successful in areas of laparoscopic surgery and orthopaedics, Neurosurgery has presented a major challenge due to the eloquence of the surrounding anatomy. This review focuses on the application of medical robotics in neurosurgery. The paper begins with an overview of the development of the medical robotics, followed by the current clinical applications in neurosurgery and an analysis of current limitations. We discuss robotic applications based in our own experience in the field. Next, we discuss the technological challenges and research areas to overcome those limitations, including some of our current research approaches for future progress in the field. Copyright 2004 Robotic Publications Ltd.

State of the art in surgical robotics: clinical applications and technology challenges.

Cleary K, Nguyen C.

Imaging Science and Information Systems (ISIS) Center, Department of Radiology, Georgetown University Medical Center, Washington, DC 20007, USA. cleary@georgetown.edu

Although it has been over 15 years since the first recorded use of a robot for a surgical procedure, the field of medical robotics is still an emerging one that has not yet reached a critical mass. Although robots have the potential to improve the precision and capabilities of physicians, the number of robots in clinical use is still very small. In this review article, we begin with a short historical review of medical robotics, followed by an overview of clinical applications where robots have been applied. The clinical applications are then discussed; they include neurosurgery, orthopedics, urology, maxillofacial surgery, radiosurgery, ophthalmology, and cardiac surgery. We conclude with a listing of technology challenges and research areas, including system architecture, software design, mechanical design, imaging compatible systems, user interface, and safety issues. Copyright 2002 Wiley-Liss, Inc.

Robotic technology in surgery: past, present, and future.

Camarillo DB, Krummel TM, Salisbury JK Jr.

Department of Mechanical Engineering, Stanford University, Stanford, California, USA.

It has been nearly 20 years since the first appearance of robotics in the operating room. In that time, much progress has been made in integrating robotic technologies with surgical instrumentation, as evidenced by the many thousands of successful robot-assisted cases. However, to build on past success and to fully leverage the potential of surgical robotics in the future, it is essential to maximize a shared understanding and communication among surgeons, engineers, entrepreneurs, and healthcare administrators. This article provides an introduction to medical robotic technologies, develops a possible taxonomy, reviews the evolution of a surgical robot, and discusses future prospects for innovation. Robotic surgery has demonstrated some clear benefits. It remains to be seen where these benefits will outweigh the associated costs over the long term. In the future, surgical robots should be smaller, less expensive, easier to operate, and should seamlessly integrate emerging technologies from a number of different fields. Such advances will enable continued progress in surgical instrumentation and, ultimately, surgical care.

The role of medical physicists and the AAPM in the development of treatment planning and optimization.

Orton CG, Bortfeld TR, Niemierko A, Unkelbach J.

Wayne State University, Detroit, Michigan 48201, USA. ortonc@comcast.net

Developments in radiotherapy treatment planning and optimization by medical physicists and the American Association of Physicists in Medicine are reviewed, with emphasis on recent work in optimization. It is shown that medical physicists have played a vital role in the creation of innovative treatment planning techniques throughout the past century, most significantly since the advent of computerized tomography for three-dimensional (3D) imaging and high-powered computers capable of 3D planning and optimization. Some early advances in 3D planning made by physicists include development of novel planning algorithms, beam's-eye-view, virtual simulation, dose-volume histogram analysis tools, and bioeffect modeling. Most of the recent developments have been driven by the need to develop treatment planning for conformal radiotherapy, especially intensity modulated radiation therapy. These advances include inverse planning, handling the effects of motion and uncertainty, biological planning, and multicriteria optimization.

A virtual frame system for stereotactic radiosurgery planning.

Ford E, Purger D, Tryggestad E, McNutt T, Christodouleas J, Rigamonti D, Shokek O, Won S, Zhou J, Lim M, Wong J, Kleinberg L.

Department of Radiation Oncology and Molecular Radiation Sciences, Johns Hopkins University, Baltimore, MD 21231, USA. eric.ford@jhmi.edu

PURPOSE: We describe a computerized (or virtual) model of a stereotactic head frame to enable planning prior to the day of radiosurgery. The location of the virtual frame acts as a guide to frame placement on the day of the procedure. METHODS AND MATERIALS: The software consists of a triangular mesh representation of the essential frame hardware that can be overlaid with any MR scan of the patient and manipulated in three dimensions. The software calculates regions of the head that will actually be accessible for treatment, subject to the geometric constraints of the Leksell Gamma Knife hardware. DICOM-compliant MR images with virtual fiducial markers overlaid onto the image can then be generated for recognition by the treatment planning system. RESULTS: Retrospective evaluation of the software on 24 previously treated patients shows a mean deviation of the position of the virtual frame from the actual frame position of 1.6 +/- 1.3 mm. Initial clinical use on five patients indicates an average discrepancy of the virtual frame location and the actual frame location of <1 mm. MR images with virtual fiducial markers can be imported into radiosurgical treatment planning software and used to generate an initial treatment plan. CONCLUSIONS: The virtual frame provides a tool for prospective determination of lesion accessibility, optimization of the frame placement, and treatment planning before the day of the procedure. This promises to shorten overall treatment times, improve patient comfort, and reduce the need for repeat treatments due to suboptimally placed frames.

6: Int J Med Robot. 2008 Dec;4(4):321-30. Links

An integrated system for planning, navigation and robotic assistance for skull base surgery.

Xia T, Baird C, Jallo G, Hayes K, Nakajima N, Hata N, Kazanzides P.

Department of Computer Science, Johns Hopkins University, Baltimore, MD 21218, USA.

BACKGROUND: We developed an image-guided robot system to provide mechanical assistance for skull base drilling, which is performed to gain access for some neurosurgical interventions, such as tumour resection. The motivation for introducing this robot was to improve safety by preventing the surgeon from accidentally damaging critical neurovascular structures during the drilling procedure. METHODS: We integrated a Stealthstation navigation system, a NeuroMate robotic arm with a six-degree-of-freedom force sensor, and the 3D Slicer visualization software to allow the robotic arm to be used in a navigated, cooperatively-controlled fashion by the surgeon. We employed virtual fixtures to constrain the motion of the robot-held cutting tool, so that it remained in the safe zone that was defined on a preoperative CT scan. RESULTS: We performed experiments on both foam skull and cadaver heads. The results for foam blocks cut using different registrations yielded an average placement error of 0.6 mm and an average dimensional error of 0.6 mm. We drilled the posterior porus acusticus in three cadaver heads and concluded that the robot-assisted procedure is clinically feasible and provides some ergonomic benefits, such as stabilizing the drill. We obtained postoperative CT scans of the cadaver heads to assess the accuracy and found that some bone outside the virtual fixture boundary was cut. The typical overcut was 1-2 mm, with a maximum overcut of about 3 mm. CONCLUSIONS: The image-guided cooperatively-controlled robot system can improve the safety and ergonomics of skull base drilling by stabilizing the drill and enforcing virtual fixtures to protect critical neurovascular structures. The next step is to improve the accuracy so that the overcut can be reduced to a more clinically acceptable value of about 1 mm.

7:Ann Surg. 2004 Jan;239(1):14-21. Links

Robotic surgery: a current perspective.

Lanfranco AR, Castellanos AE, Desai JP, Meyers WC.

Department of Mechanical Engineering and Mechanics, Drexel University, Philadelphia, Pennsylvania 19102, USA.

OBJECTIVE: To review the history, development, and current applications of robotics in surgery. BACKGROUND: Surgical robotics is a new technology that holds significant promise. Robotic surgery is often heralded as the new revolution, and it is one of the most talked about subjects in surgery today. Up to this point in time, however, the drive to develop and obtain robotic devices has been largely driven by the market. There is no doubt that they will become an important tool in the surgical armamentarium, but the extent of their use is still evolving. METHODS: A review of the literature was undertaken using Medline. Articles describing the history and development of surgical robots were identified as were articles reporting data on applications. RESULTS: Several centers are currently using surgical robots and publishing data. Most of these early studies report that robotic surgery is feasible. There is, however, a paucity of data regarding costs and benefits of robotics versus conventional techniques. CONCLUSIONS: Robotic surgery is still in its infancy and its niche has not yet been well defined. Its current practical uses are mostly