An Overview of Robotics in Functional Neurosurgery <s> Neurosurgery and Robotics <s> The use of a Unimation Puma 200 robot, properly interfaced with a computerized tomographic (CT) scanner and with a probe guide mounted at its end effector for CT-guided brain tumor biopsis is discussed. Once the target is identified on the CT picture, a simple command allows the robot to move to a position such that the end-effector probe guide points toward the target. This results in a procedure faster than one using a manually adjustable frame. Probably the most important advantage, as is shown, is the improved accuracy that can be achieved by proper calibration of the robot. > <s> BIB001 </s> An Overview of Robotics in Functional Neurosurgery <s> Neurosurgery and Robotics <s> Abstract Introduction: Technologies such as microscopy have pushed surgeons to the limits of their dexterity and endurance. Robotic advances such as tremor filtration and motion scaling permit maximal use of magnification, and enable precise, tremor-free tool manipulation during microsurgery. To our knowledge, however, no such device exists for image-guided, ambidextrous microneurosurgery, prompting us to develop our own system. Methods: We approached a company with exceptional experience in space robotics to design and construct an appropriate system. A systematic and structured approached was followed for the design of neuroArm. Engineers studied the operating room environment with the assistance of surgeons and nursing staff. A preliminary design was developed, and subsequently evaluated by surgical staff. Selected materials were tested at 3.0 T to ensure MR compatibility and performance characteristics of the robot actuators and encoders were evaluated. Results: We have developed an MR compatible ambidextrous robot capable of both microneurosurgery and stereotaxy. The design is based on a SCARA configuration and has 8-DOF (including tool actuation). The end-effector is designed to interface with standard neurosurgical tools and is equipped with a 3-DOF optical force sensor for haptic feedback. Comprehensive testing of materials was conducted in a 3-T magnet to ensure compatibility. Breadboard testing results suggest a tool tip resolution of 30 μm. Discussion: A systematic approach has been applied to the development of a unique and dexterous neurosurgical robot. The system promises to enhance surgical performance, reduce fatigue, and improve surgical outcomes. This seamless integration of robotics with iMRI will further revolutionize neurosurgery. <s> BIB002 </s> An Overview of Robotics in Functional Neurosurgery <s> Neurosurgery and Robotics <s> Intraoperative imaging disrupts the rhythm of surgery despite providing an excellent opportunity for surgical monitoring and assessment. To allow surgery within real-time images, neuroArm, a teleoperated surgical robotic system, was conceptualized. The objective was to design and manufacture a magnetic resonance-compatible robot with a human-machine interface that could reproduce some of the sight, sound, and touch of surgery at a remote workstation. University of Calgary researchers worked with MacDonald, Dettwiler and Associates engineers to produce a requirements document, preliminary design review, and critical design review, followed by the manufacture, preclinical testing, and clinical integration of neuroArm. During the preliminary design review, the scope of the neuroArm project changed to performing microsurgery outside the magnet and stereotaxy inside the bore. neuroArm was successfully manufactured and installed in an intraoperative magnetic resonance imaging operating room. neuroArm was clinically integrated into 35 cases in a graded fashion. As a result of this experience, neuroArm II is in development, and advances in technology will allow microsurgery within the bore of the magnet. neuroArm represents a successful interdisciplinary collaboration. It has positive implications for the future of robotic technology in neurosurgery in that the precision and accuracy of robots will continue to augment human capability. <s> BIB003
The primary purpose of using robots in neurosurgery has been to improve targeting of deep structures. Targeting of deep structures, especially for biopsy, has been a focus of early robotic devices. The first of these procedures were incidentally performed using an industrial robot.  BIB001 Robotic targeting has high precision, and this was the primary motivation for utilizing them. Surface surgery or surgeries requiring a formal craniotomy requires general purpose robots. These robots require arms, master-slave control systems, and sophisticated safety and feedback mechanisms. The first dedicated attempt to build a general-purpose neurosurgical robot was by Prof. Sutherland and his team at the University of Calgary. BIB002 BIB003 Several other groups notably in Japan and Europe have been working on general-purpose neurosurgical robots. However, stereotactic robots have more commercial success than general-purpose neurosurgical robots.