Active Vision-Guided Robotic Arm for Bone Drilling in Neurosurgery
Journal name: The Malaysian Journal of Medical Sciences
Original article title: Robotic Neurosurgery: A Preliminary Study Using an Active Vision-Guided Robotic Arm for Bone Drilling and Endoscopic Manoeuvres
The Malaysian Journal of Medical Sciences (MJMS) is a peer-reviewed, open-access journal published online at least six times a year. It covers all aspects of medical sciences and prioritizes high-quality research.
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Original source:
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Mohamed Saufi Awang, Mohd Zaid Abdullah
The Malaysian Journal of Medical Sciences:
(A peer-reviewed, open-access journal)
Full text available for: Robotic Neurosurgery: A Preliminary Study Using an Active Vision-Guided Robotic Arm for Bone Drilling and Endoscopic Manoeuvres
Year: 2011
Copyright (license): CC BY 4.0
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Summary of article contents:
Introduction
Surgical robotics have become increasingly prevalent in operating rooms, with neurosurgery being at the forefront of this technological advancement. While robots have primarily been utilized for stereotactic and endoscopic procedures, their potential application in neurosurgery is vast given the intricacies associated with the brain. This study aimed to evaluate a vision-guided robotic system's effectiveness in performing basic neurosurgical tasks such as bone drilling and endoscopic maneuvers on artificial skull models, examining its accuracy and repeatability across various patient positions.
Accuracy and Repeatability in Robotic Surgery
The study demonstrated that the robotic system, specifically the Adept Cobra 600 robot, was capable of executing targeted surgical procedures within a narrow accuracy range of 0.1 to 1.0 mm. The robotic arm was tested in different positions—supine, sitting, prone, and lateral—yielding varying results in accuracy and repeatability. For example, in the supine position, all targets were achieved with 1.0 mm accuracy, while the sitting position showed an accuracy range of 0.1 to 1.0 mm. These results indicate that although the robot successfully recognized targets and executed tasks, its performance was limited by the degree of freedom in its movements, as well as external factors such as camera calibration height and lighting conditions.
Conclusion
The findings suggest that the vision-guided robotic system can act as an efficient surgical robot in performing basic neurosurgical tasks, albeit with limitations. The study emphasizes the need for further refinement of the robotic system, particularly in improving its degrees of freedom to enhance operational flexibility and surgical precision. Additionally, establishing robust safety mechanisms tailored to the medical context is critical before advancing to animal model testing. As the field continues to evolve, further research could significantly augment robotic capabilities in neurosurgery, ultimately improving patient outcomes.
FAQ section (important questions/answers):
What was the aim of this robotic neurosurgery study?
The aim was to assess the ability of a vision-guided robotic system to perform basic neurosurgical procedures, specifically bone drilling and endoscopic maneuvers on artificial skull models.
How accurate was the robotic system in performing procedures?
The accuracy of the robotic system ranged from 0.1 to 1.0 mm, demonstrating the robot's capability in targeting and executing surgical tasks with reasonable precision across various surgical positions.
What limitations did the robotic system encounter during tests?
The system was limited by its 4 degrees of freedom, affecting its ability to perform complex movements. Factors like camera height inconsistency and lighting also influenced accuracy and repeatability.
What safety considerations were highlighted for the robotic system?
Enhanced safety mechanisms are necessary for medical robots due to the risks involved in patient care. Current safety measures in industrial robotics do not suffice for surgical applications, emphasizing the need for more stringent protocols.
Glossary definitions and references:
Scientific and Ayurvedic Glossary list for “Active Vision-Guided Robotic Arm for Bone Drilling in Neurosurgery�. This list explains important keywords that occur in this article and links it to the glossary for a better understanding of that concept in the context of Ayurveda and other topics.
1) Surface:
The term 'surface' refers to the outermost layer of the skull model where surgical procedures, like bone drilling or endoscope insertion, are performed. Accurate targeting on this surface is critical for successful surgical execution, influencing the robot's positioning and operational effectiveness in the neurosurgical context discussed in the study.
2) Study (Studying):
The term 'study' represents the detailed examination and research conducted within this work, focusing on the capabilities of an industrial robotic arm for basic neurosurgical tasks. It highlights the structured approach used to evaluate the performance of robotic systems in specific surgical procedures, contributing to advancements in robotic surgery.
3) Transformation (Transform, Transforming):
Similar to 'transformed', the word 'transform' refers to the action of converting visual information from images into coordinates that the robotic system can use. This transformation is vital for enabling the robotic arm to accurately navigate and perform the surgical tasks outlined in the study, enhancing its operational capabilities.
4) Table:
In the context of the study, 'table' refers to the organized presentation of data summarizing the experiment's findings. This includes the number of targets, completed burr holes, accuracy, and repeatability at varying positions, providing a clear and concise way to interpret the results of the robotic performance assessments.
5) Human life:
The phrase 'human life' underscores the importance of safety and effectiveness in surgical robots, as these devices directly impact patient health and outcomes. The development and refinement of robotic systems for neurosurgery must prioritize the preservation of human life, ensuring safe interactions between robots and patients during procedures.
6) Calculation:
The term 'calculation' refers to the mathematical processes used to determine the accuracy and position of targets during the robotic procedures. This involves measuring distances and coordinates, which are critical for evaluating the robot's performance in precisely locating targets on the artificial skull model in the neurosurgical tasks.
7) Channel:
In this context, 'channel' relates to the input and output pathways associated with the CCD camera used for image capture within the robotic system. These channels facilitate the communication and processing of visual information, contributing to the robot’s ability to accurately perform tasks and identify targets during neurosurgery.
8) Animal:
The word 'animal' is relevant as the study indicates future work will extend into animal models for further testing of the robotic system. This suggests a critical phase in research development, where safety, efficacy, and surgical outcomes can be assessed in a living system prior to potential human applications.
9) Noise:
The term 'noise' refers to unwanted variations or disturbances in the captured images during surgical procedures. Controlling noise is crucial for the effective functioning of the vision system, as it can interfere with the clarity of the images, affecting the accuracy of target detection and the overall performance of the robotic system.
10) Field:
The word 'field' denotes the area of specialization being discussed, specifically the realm of neurosurgery in this study. Understanding the field is critical for identifying the applications and potential of robotic systems in enhancing surgical techniques, as well as addressing challenges related to precision, safety, and effectiveness in medical procedures.
11) Tank:
In the study, 'tank' refers to the gas tank used to power the drilling tool attached to the robotic arm. This element is crucial for enabling the perforator to operate effectively during the bone drilling procedure, allowing the robot to execute surgical tasks relying on pneumatic force for precise movements.
12) Sah:
The mention of 'Shah' is likely referring to one of the authors or contributors in the cited references section. Their work on robotics in surgery underscores the collaborative nature of research advancements in this field and highlights the importance of diverse expertise in developing effective surgical robotics.
13) Life:
The word 'life' emphasizes the ultimate goal of the robotic systems' development, which is to improve surgical outcomes that affect patients' lives. Ensuring the safety and effectiveness of robotic and surgical procedures is fundamental to enhancing patient care and achieving better health outcomes in neurosurgery.
14) Hand:
The term 'hand' in this context refers to the manipulative function of the robotic arm, which is designed to mimic human hand movements. The ability to replicate these complex movements is essential for the robot to perform precise surgical tasks, highlighting the importance of fine motor skills in the realm of robotic-assisted surgery.
Other Science Concepts:
Discover the significance of concepts within the article: �Active Vision-Guided Robotic Arm for Bone Drilling in Neurosurgery�. Further sources in the context of Science might help you critically compare this page with similair documents:
Neurosurgery, Surgical Procedure, Surgical task, Visual system, Degree of Freedom, Industrial Robot, Surgical robot, Image Processing, Medical Robots, Burr hole, Computer-assisted surgery, Bone drilling, Robotic system, Future work, Endoscopic procedures, Surgical position, Accuracy measurement.