PDF(Pubmed)
Abstract：
Stereotactic neurosurgery is a well-established surgical technique for navigation and guidance during treatment of intracranial pathologies. Intracerebral hemorrhage (ICH) is an example of various neurosurgical conditions that can benefit from stereotactic neurosurgery. As a part of our ongoing work toward real-time MR-guided ICH evacuation, we aim to address an unmet clinical need for a skull-mounted frameless stereotactic aiming device that can be used with minimally invasive robotic systems for MR-guided interventions. In this paper, we present NICE-Aiming, a Neurosurgical, Interventional, Configurable device for Effective-Aiming in MR-guided robotic neurosurgical interventions. A kinematic model was developed and the system was used with a concentric tube robot (CTR) for ICH evacuation in (i) a skull phantom and (ii) in the first ever reported ex vivo CTR ICH evacuation using an ex vivo ovine head. The NICE-Aiming prototype provided a tip accuracy of 1.41±0.35 mm in free-space. In the MR-guided gel phantom experiment, the targeting accuracy was 2.07±0.42 mm and the residual hematoma volume was 12.87 mL (24.32% of the original volume). In the MR-guided ex vivo ovine head experiment, the targeting accuracy was 2.48±0.48 mm and the residual hematoma volume was 1.42 mL (25.08% of the original volume).
摘要：
立体定向神经外科是一种在颅内病变治疗期间用于导航和引导的完善的外科技术。脑出血（ICH）是各种神经外科疾病的一个例子，可以从立体定向神经外科手术中受益。作为我们正在进行的实时MR引导的ICH疏散工作的一部分，我们的目标是解决颅骨安装的无框架立体定向瞄准装置的未满足的临床需求,该装置可与微创机器人系统一起用于MR引导的介入治疗.在本文中,我们展示了NICE-AIGHT,神经外科,介入性,用于有效瞄准MR引导的机器人神经外科介入的可配置设备。开发了运动学模型，并将该系统与同心管机器人（CTR）一起用于（i）颅骨体模和（ii）首次报道的使用离体绵羊头的离体CTRICH疏散中的ICH疏散。NICE-Aighting原型在自由空间中提供了1.41±0.35mm的尖端精度。在MR引导的凝胶体模实验中，靶向准确度为2.07±0.42mm,残余血肿体积为12.87mL(原始体积的24.32%).在MR引导的离体绵羊头实验中，靶向精度为2.48±0.48mm,残余血肿体积为1.42mL(原始体积的25.08%).
