1. Interactive Multi‐Stage Robotic Positioner for Intra‐Operative MRI‐Guided Stereotactic Neurosurgery
- Author
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Zhuoliang He, Jing Dai, Justin Di‐Lang Ho, Hon‐Sing Tong, Xiaomei Wang, Ge Fang, Liyuan Liang, Chim‐Lee Cheung, Ziyan Guo, Hing‐Chiu Chang, Iulian Iordachita, Russell H. Taylor, Wai‐Sang Poon, Danny Tat‐Ming Chan, and Ka‐Wai Kwok
- Subjects
frameless stereotaxis ,MRI‐guided interventions ,soft robotics ,stereotactic neurosurgery ,surgical robotics ,Science - Abstract
Abstract Magnetic resonance imaging (MRI) demonstrates clear advantages over other imaging modalities in neurosurgery with its ability to delineate critical neurovascular structures and cancerous tissue in high‐resolution 3D anatomical roadmaps. However, its application has been limited to interventions performed based on static pre/post‐operative imaging, where errors accrue from stereotactic frame setup, image registration, and brain shift. To leverage the powerful intra‐operative functions of MRI, e.g., instrument tracking, monitoring of physiological changes and tissue temperature in MRI‐guided bilateral stereotactic neurosurgery, a multi‐stage robotic positioner is proposed. The system positions cannula/needle instruments using a lightweight (203 g) and compact (Ø97 × 81 mm) skull‐mounted structure that fits within most standard imaging head coils. With optimized design in soft robotics, the system operates in two stages: i) manual coarse adjustment performed interactively by the surgeon (workspace of ±30°), ii) automatic fine adjustment with precise (
- Published
- 2024
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