Stereotactic neurosurgical robotics with real-time patient tracking: a cadaveric study

Robertson, F.C.; Wu, K.C.; Sha, R.M.; Amich, J.M.; Lal, A.; Lee, B.H.; Kirollos, R.W.; Chen, M.W.; Gormley, W.B.

doi:doi:10.1227/ons.0000000000000155

BACKGROUND: Robotic neurosurgery may improve the accuracy, speed, and availability of stereotactic procedures. We recently developed a computer vision and artificial intelligence-driven frameless stereotaxy for nonimmobilized patients, creating an opportunity to develop accurate and rapidly deployable robots for bedside cranial intervention. OBJECTIVE: To validate a portable stereotactic surgical robot capable of frameless registration, real-time tracking, and accurate bedside catheter placement. METHODS: Four human cadavers were used to evaluate the robot's ability to maintain low surface registration and targeting error for 72 intracranial targets during head motion, ie, without rigid cranial fixation. Twenty-four intracranial catheters were placed robotically at predetermined targets. Placement accuracy was verified by computed tomography imaging. RESULTS: Robotic tracking of the moving cadaver heads occurred with a program runtime of 0.111 +/- 0.013 seconds, and the movement...Show moreBACKGROUND: Robotic neurosurgery may improve the accuracy, speed, and availability of stereotactic procedures. We recently developed a computer vision and artificial intelligence-driven frameless stereotaxy for nonimmobilized patients, creating an opportunity to develop accurate and rapidly deployable robots for bedside cranial intervention. OBJECTIVE: To validate a portable stereotactic surgical robot capable of frameless registration, real-time tracking, and accurate bedside catheter placement. METHODS: Four human cadavers were used to evaluate the robot's ability to maintain low surface registration and targeting error for 72 intracranial targets during head motion, ie, without rigid cranial fixation. Twenty-four intracranial catheters were placed robotically at predetermined targets. Placement accuracy was verified by computed tomography imaging. RESULTS: Robotic tracking of the moving cadaver heads occurred with a program runtime of 0.111 +/- 0.013 seconds, and the movement command latency was only 0.002 +/- 0.003 seconds. For surface error tracking, the robot sustained a 0.588 +/- 0.105 mm registration accuracy during dynamic head motions (velocity of 6.647 +/- 2.360 cm/s). For the 24 robotic-assisted intracranial catheter placements, the target registration error was 0.848 +/- 0.590 mm, providing a user error of 0.339 +/- 0.179 mm. CONCLUSION: Robotic-assisted stereotactic procedures on mobile subjects were feasible with this robot and computer vision image guidance technology. Frameless robotic neurosurgery potentiates surgery on nonimmobilized and awake patients both in the operating room and at the bedside. It can affect the field through improving the safety and ability to perform procedures such as ventriculostomy, stereo electroencephalography, biopsy, and potentially other novel procedures. If we envision catheter misplacement as a "never event," robotics can facilitate that reality.Show less

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Stereotactic neurosurgical robotics with real-time patient tracking: a cadaveric study