MARS - Motor Assisted Robotic Stereotaxy System

Maximilian Heinig; Maria Fernanda Govela; Fernando Gasca; Christian Dold; Ulrich G. Hofmann; Volker Tronnier; Alexander Schlaefer; Achim Schweikard

doi:10.1109/NER.2011.5910555

MARS - Motor Assisted Robotic Stereotaxy System

Maximilian Heinig, Maria Fernanda Govela, Fernando Gasca, Christian Dold, Ulrich G. Hofmann, Volker Tronnier, Alexander Schlaefer, Achim Schweikard

inomed Medizintechnik GmbH

Abstract

We report on the design, setup and first results of a robotized system for stereotactic neurosurgery. It features three translational and two rotational axes, as well as a motorized MicroDrive, thereby resembling the Zamorano-Duchovny (ZD) design of stereotactic frames (inomed Medizintechnik GmbH). Both rotational axes intersect in one point, the Center of the Arc, facilitating trajectory planning. We used carbon fiber-reinforced plastic to reduce the weight of the system. The robot can be mounted to standard operating table's side rails and can be transported on an operation theatre (OT) instrument table. We discuss the design paradigms, the resulting design and the actual robot. Kinematic calculations for the robot based on the Denavit-Hartenberg (DH) rules are presented. Positioning accuracy of our system is determined using two perpendicular cameras mounted on an industrial robot. The results are compared to a manual ZD system. We found that the robot's mean position deviation is 0.231 mm with a standard deviation of 0.076 mm.

Original language	English
Title of host publication	2011 5th International IEEE/EMBS Conference on Neural Engineering
Number of pages	4
Publisher	IEEE
Publication date	20.07.2011
Pages	334-337
Article number	5910555
ISBN (Print)	978-1-4244-4140-2, 978-1-4244-4141-9
DOIs	https://doi.org/10.1109/NER.2011.5910555
Publication status	Published - 20.07.2011
Event	2011 5th International IEEE/EMBS Conference on Neural Engineering - Cancun, Mexico Duration: 27.04.2011 → 01.05.2011 Conference number: 85524

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10.1109/NER.2011.5910555

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Heinig, M., Govela, M. F., Gasca, F., Dold, C., Hofmann, U. G., Tronnier, V., Schlaefer, A., & Schweikard, A. (2011). MARS - Motor Assisted Robotic Stereotaxy System. In 2011 5th International IEEE/EMBS Conference on Neural Engineering (pp. 334-337). Article 5910555 (International IEEE/EMBS Conference on Neural Engineering). IEEE. https://doi.org/10.1109/NER.2011.5910555

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title = "MARS - Motor Assisted Robotic Stereotaxy System",

abstract = "We report on the design, setup and first results of a robotized system for stereotactic neurosurgery. It features three translational and two rotational axes, as well as a motorized MicroDrive, thereby resembling the Zamorano-Duchovny (ZD) design of stereotactic frames (inomed Medizintechnik GmbH). Both rotational axes intersect in one point, the Center of the Arc, facilitating trajectory planning. We used carbon fiber-reinforced plastic to reduce the weight of the system. The robot can be mounted to standard operating table's side rails and can be transported on an operation theatre (OT) instrument table. We discuss the design paradigms, the resulting design and the actual robot. Kinematic calculations for the robot based on the Denavit-Hartenberg (DH) rules are presented. Positioning accuracy of our system is determined using two perpendicular cameras mounted on an industrial robot. The results are compared to a manual ZD system. We found that the robot's mean position deviation is 0.231 mm with a standard deviation of 0.076 mm.",

author = "Maximilian Heinig and Govela, {Maria Fernanda} and Fernando Gasca and Christian Dold and Hofmann, {Ulrich G.} and Volker Tronnier and Alexander Schlaefer and Achim Schweikard",

year = "2011",

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doi = "10.1109/NER.2011.5910555",

language = "English",

isbn = "978-1-4244-4140-2",

series = "International IEEE/EMBS Conference on Neural Engineering",

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Heinig, M, Govela, MF, Gasca, F, Dold, C, Hofmann, UG, Tronnier, V, Schlaefer, A & Schweikard, A 2011, MARS - Motor Assisted Robotic Stereotaxy System. in 2011 5th International IEEE/EMBS Conference on Neural Engineering., 5910555, International IEEE/EMBS Conference on Neural Engineering, IEEE, pp. 334-337, 2011 5th International IEEE/EMBS Conference on Neural Engineering , Cancun, Mexico, 27.04.11. https://doi.org/10.1109/NER.2011.5910555

MARS - Motor Assisted Robotic Stereotaxy System. / Heinig, Maximilian; Govela, Maria Fernanda; Gasca, Fernando et al.
2011 5th International IEEE/EMBS Conference on Neural Engineering. IEEE, 2011. p. 334-337 5910555 (International IEEE/EMBS Conference on Neural Engineering).

Research output: Chapters in Books/Reports/Conference Proceedings › Conference contribution › peer-review

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AU - Tronnier, Volker

AU - Schlaefer, Alexander

AU - Schweikard, Achim

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N2 - We report on the design, setup and first results of a robotized system for stereotactic neurosurgery. It features three translational and two rotational axes, as well as a motorized MicroDrive, thereby resembling the Zamorano-Duchovny (ZD) design of stereotactic frames (inomed Medizintechnik GmbH). Both rotational axes intersect in one point, the Center of the Arc, facilitating trajectory planning. We used carbon fiber-reinforced plastic to reduce the weight of the system. The robot can be mounted to standard operating table's side rails and can be transported on an operation theatre (OT) instrument table. We discuss the design paradigms, the resulting design and the actual robot. Kinematic calculations for the robot based on the Denavit-Hartenberg (DH) rules are presented. Positioning accuracy of our system is determined using two perpendicular cameras mounted on an industrial robot. The results are compared to a manual ZD system. We found that the robot's mean position deviation is 0.231 mm with a standard deviation of 0.076 mm.

AB - We report on the design, setup and first results of a robotized system for stereotactic neurosurgery. It features three translational and two rotational axes, as well as a motorized MicroDrive, thereby resembling the Zamorano-Duchovny (ZD) design of stereotactic frames (inomed Medizintechnik GmbH). Both rotational axes intersect in one point, the Center of the Arc, facilitating trajectory planning. We used carbon fiber-reinforced plastic to reduce the weight of the system. The robot can be mounted to standard operating table's side rails and can be transported on an operation theatre (OT) instrument table. We discuss the design paradigms, the resulting design and the actual robot. Kinematic calculations for the robot based on the Denavit-Hartenberg (DH) rules are presented. Positioning accuracy of our system is determined using two perpendicular cameras mounted on an industrial robot. The results are compared to a manual ZD system. We found that the robot's mean position deviation is 0.231 mm with a standard deviation of 0.076 mm.

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M3 - Conference contribution

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SN - 978-1-4244-4141-9

T3 - International IEEE/EMBS Conference on Neural Engineering

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BT - 2011 5th International IEEE/EMBS Conference on Neural Engineering

PB - IEEE

T2 - 2011 5th International IEEE/EMBS Conference on Neural Engineering

Y2 - 27 April 2011 through 1 May 2011

ER -

MARS - Motor Assisted Robotic Stereotaxy System

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