Development of a miniaturized robotic guidance device for stereotactic neurosurgery

2021 ◽  
pp. 1-10
Keyword(s):  
Robotic System ◽  
Guidance System ◽  
Small Scale ◽  
Application Development ◽  
Seamless Integration ◽  
Clinical Series ◽  
Technical Specifications ◽  
Stereotactic Guidance ◽  
Guidance Systems ◽  
Guidance Device

OBJECTIVE Consistently high accuracy and a straightforward use of stereotactic guidance systems are crucial for precise stereotactic targeting and a short procedural duration. Although robotic guidance systems are widely used, currently available systems do not fully meet the requirements for a stereotactic guidance system that combines the advantages of frameless surgery and robotic technology. The authors developed and optimized a small-scale yet highly accurate guidance system that can be seamlessly integrated into an existing operating room (OR) setup due to its design. The aim of this clinical study is to outline the development of this miniature robotic guidance system and present the authors’ clinical experience. METHODS After extensive preclinical testing of the robotic stereotactic guidance system, adaptations were implemented for robot fixation, software usability, navigation integration, and end-effector application. Development of the robotic system was then advanced in a clinical series of 150 patients between 2013 and 2019, including 111 needle biopsies, 13 catheter placements, and 26 stereoelectroencephalography (SEEG) electrode placements. During the clinical trial, constant modifications were implemented to meet the setup requirements, technical specifications, and workflow for each indication. For each application, specific setup, workflow, and median procedural accuracy were evaluated. RESULTS Application of the miniature robotic system was feasible in 149 of 150 cases. The setup in each procedure was successfully implemented without adding significant OR time. The workflow was seamlessly integrated into the preexisting procedure. In the course of the study, procedural accuracy was improved. For the biopsy procedure, the real target error (RTE) was reduced from a mean of 1.8 ± 1.03 mm to 1.6 ± 0.82 mm at entry (p = 0.05), and from 1.7 ± 1.12 mm to 1.6 ± 0.72 mm at target (p = 0.04). For the SEEG procedures, the RTE was reduced from a mean of 1.43 ± 0.78 mm in the first half of the procedures to 1.12 ± 0.52 mm (p = 0.002) at entry in the second half, and from 1.82 ± 1.13 mm to 1.57 ± 0.98 mm (p = 0.069) at target, respectively. No healing complications or infections were observed in any case. CONCLUSIONS The miniature robotic guidance device was able to prove its versatility and seamless integration into preexisting workflow by successful application in 149 stereotactic procedures. According to these data, the robot could significantly improve accuracy without adding time expenditure.

Preliminary experience with Brown-Roberts-Wells (BRW) computerized tomography stereotaxic guidance system

1983 ◽  
Vol 59 (2) ◽  
pp. 217-222 ◽  
Author(s):  
M. Peter Heilbrun ◽  
Theodore S. Roberts ◽  
Michael L. J. Apuzzo ◽  
Trent H. Wells ◽  
James K. Sabshin
Keyword(s):  
Ct Scan ◽  
Computerized Tomography ◽  
Guidance System ◽  
Production Model ◽  
Ct Scanner ◽  
Content Type ◽  
Ct Scanners ◽  
Guidance Systems ◽  
Fine Print

✓ The production model of the Brown-Roberts-Wells (BRW) computerized tomography (CT) stereotaxic guidance system is described. Hardware and software modifications to the original prototype now allow the system to be used independently of the CT scanner after an initial scan with the localizing components fixed to the skull. The system is simple and efficient, can be used universally with all CT scanners, and includes a phantom simulator system for target verification. Preliminary experience with 74 patients at two institutions is described. It is concluded that CT stereotaxic guidance systems will become important tools in the neurosurgical armamentarium, as they allow accurate approach to any target identifiable on the CT scan.

O-Arm–Guided Balloon Kyphoplasty: Prospective Single-Center Case Series of 54 Consecutive Patients

2011 ◽  
Vol 68 (suppl_2) ◽  
pp. ons250-ons256 ◽  
Author(s):  
Frédéric Schils
Keyword(s):  
Case Series ◽  
Balloon Kyphoplasty ◽  
Guidance System ◽  
Fluoroscopy Time ◽  
Vertebral Compression Fractures ◽  
Additional Time ◽  
Minimally Invasive Spinal Surgery ◽  
X Ray ◽  
Clinical Series ◽  
The Mean

Abstract Background: Balloon kyphoplasty is widely used to treat vertebral compression fractures. Procedure outcome and safety are directly linked to precise radiological imaging requiring 1 or 2 C arms to allow correct visualization throughout the procedure. This minimally invasive spinal surgery is associated with radiation exposure for both patient and surgeon. In our center, we switched from using a C-arm to an O-arm image guidance system to perform balloon kyphoplasty. Our preliminary experience is reported in Acta Neurochirurgica, and the encouraging results led us to study this subject more extensively. This article presents our complete results. To the best of our knowledge, there is no comparable clinical series describing O-arm use in kyphoplasty procedures published in the literature. Objective: To report our complete results of using the O-arm guidance system to perform balloon kyphoplasty. Methods: We prospectively evaluated O-arm–guided kyphoplasty procedure in 54 consecutive patients and measured x-ray exposure and fluoroscopy time. Results: The mean surgical time for the procedure was 38 minutes with a mean fluoroscopy procedure time of 3.1 minutes. The mean fluoroscopy time by level was 2.5 minutes. Mean irradiation dose by procedure was 220 mGy and by level was 166 mGy. There was a significant reduction in fluoroscopy time and x-ray exposure from 5.1 minutes with classic C-arm use to 3.1 minutes when with O-arm use without additional time required for positioning the system. Conclusion: With this new intraoperative system, the overall surgical and fluoroscopy times can be further reduced in the near future.

scholarly journals Virtual Pheromone Based Network Flow Control For Modular Robotic Systems

Electronics ◽  
2020 ◽  
Vol 9 (3) ◽  
pp. 481
Author(s):  
Van Tung Le ◽  
Trung Dung Ngo
Keyword(s):  
Flow Control ◽  
Network Flow ◽  
Communication Channel ◽  
Routing Algorithm ◽  
Robotic System ◽  
Robotic Systems ◽  
Application Development ◽  
Gradient Based ◽  
Communication Path

Guaranteeing data transmission between modules is the key for application development of modular robotic systems. In a multi-channel modular robotic system, intersection modules play an essential role of communication channel selection in controlling data flow toward desired destinations. The gradient-based routing algorithm is an ideal solution to create an one-way communication path from any robotic module to a designated destination. To create bi-directional communication for a communication path of robotic configuration, virtual pheromone-based routing algorithm is a promising mechanism for intersection modules due to its simplicity and distributivity. In this paper, we address a virtual pheromone based network flow control based on the integration of gradient and virtual pheromone-based routing algorithms. We validated this method through an education and entertainment application using our newly developed modular robotic system.

scholarly journals Machinery guidance systems analysis concerning pass-to-pass accuracy as a tool for efficient plant production in fields and for soil damage reduction

2014 ◽  
Vol 60 (No. 1) ◽  
pp. 36-42 ◽  
Author(s):  
Z. Kvíz ◽  
M. Kroulik ◽  
J. Chyba
Keyword(s):  
Conventional Tillage ◽  
Guidance System ◽  
Plant Production ◽  
Soil Conditions ◽  
Environmental Damage ◽  
System Utilization ◽  
Cropping Season ◽  
Significant Difference ◽  
Guidance Systems ◽  
Field Area

Machines without satellite navigation in fields have a tendency to pass-to-pass errors, especially unwanted overlaps, resulting in waste of fuel and pesticides, longer working times and also environmental damage. This paper evaluates the accuracy of individual machinery passes in fields. Real pass-to-pass errors (omissions and overlaps) in a field were measured on different tractor-implement units with and without guidance system utilization and a comparison between observed guidance arrangements was made regarding final working accuracy and possible benefits from navigation utilization. Additionally, intensity of machinery passes, and repeated passes on soil, as a possible risk for soil compaction in fields, were monitored. The outcomes from our measurements revealed a statistically significant difference between the total area treated by machinery without any guidance system and machinery using precise guidance systems. Concerning the intensity of traffic in fields, it was found out that more than 86% of the total field area was run-over at least once during one cropping season when using conventional tillage practice. The usage of guidance systems can reduce machinery traffic in field to some extent as well and thus improve soil conditions.

Design of Ground Monitoring System Guidance System Based on Virtual Instrument

2014 ◽  
Vol 644-650 ◽  
pp. 1180-1184
Author(s):  
Bo Zhang
Keyword(s):  
Monitoring System ◽  
Virtual Instrument ◽  
Standard Test ◽  
Guidance System ◽  
Missile Guidance ◽  
Monitoring Methods ◽  
Development Platform ◽  
Data Acquisition Card ◽  
Ground Monitoring ◽  
Guidance Device

For backward status of a missile guidance device monitoring methods, developed a set of ground monitoring system based on virtual instrument technology. The system meets the standard test of a certain type of missile guidance device, the data acquisition card and controller of PXI bus as the hardware platform, using LabVIEW as the software development platform, The acquisition of analog signal, video signal and serial communication set in one, it can detect the performance and parameters of the guidance device, and monitoring the flight trajectory of the missile qualitatively. The application results show that the monitoring system is stable and reliable, improve the efficiency and accuracy of monitoring, and has a certain popularization value.

Accuracy of percutaneous lumbar pedicle screw placement using the oblique or “owl's-eye” view and novel guidance technology

2010 ◽  
Vol 13 (4) ◽  
pp. 509-515 ◽  
Author(s):  
Cary Idler ◽  
Kevin W. Rolfe ◽  
Josef E. Gorek
Keyword(s):  
Pedicle Screw ◽  
Facet Joint ◽  
Pedicle Screws ◽  
Guidance System ◽  
Screw Placement ◽  
Pedicle Screw Placement ◽  
Screw Insertion ◽  
Percutaneous Pedicle Screw ◽  
Clinical Series ◽  
Lumbar Pedicle

Object This study was conducted to assess the in vivo safety and accuracy of percutaneous lumbar pedicle screw placement using the owl's-eye view of the pedicle axis and a new guidance technology system that facilitates orientation of the C-arm into the appropriate fluoroscopic view and the pedicle cannulation tool in the corresponding trajectory. Methods A total of 326 percutaneous pedicle screws were placed from L-3 to S-1 in 85 consecutive adult patients. Placement was performed using simple coaxial imaging of the pedicle with the owl's-eye fluoroscopic view. NeuroVision, a new guidance system using accelerometer technology, helped align the C-arm trajectory into the owl's-eye view and the cannulation tool in the same trajectory. Postoperative fine-cut CT scans were acquired to assess screw position. Medical records were reviewed for complications. Results Five of 326 screws breached a pedicle cortex—all breaches were less than 2 mm—for an accuracy rate of 98.47%. Five screws violated an adjacent facet joint. All were at the S-1 superior facet and included in a fusion. No screw violated an adjacent mobile facet or disc space. There were no cases of new or worsening neurological symptoms or deficits for an overall clinical accuracy of 100%. Conclusions The owl's-eye technique of coaxial pedicle imaging with the C-arm fluoroscopy, facilitated by NeuroVision, is a safe and accurate means by which to place percutaneous pedicle screws for degenerative conditions of the lumbar spine. This is the largest series reported to use the oblique or owl's-eye projection for percutaneous pedicle screw insertion. The accuracy of percutaneous screw insertion with this technique meets or exceeds that of other reported clinical series or techniques.

System-controlled user interaction within the service robotic control architecture MASSiVE

Robotica ◽  
2007 ◽  
Vol 25 (2) ◽  
pp. 237-244 ◽  
Author(s):  
Oliver Prenzel ◽  
Christian Martens ◽  
Marco Cyriacks ◽  
Chao Wang ◽  
Axel Gräser
Keyword(s):  
A Priori ◽  
User Involvement ◽  
User Interaction ◽  
Interface Layer ◽  
Robotic System ◽  
Control Architecture ◽  
Task Execution ◽  
User Interactions ◽  
Seamless Integration ◽  
Task Knowledge

SUMMARYThis paper presents an approach to reduce the technical complexity of a service robotic system by means of systematic and well-balanced user-involvement. By taking advantage of the user's cognitive capabilities during task execution, a technically manageable robotic system, which is able to execute tasks on a high level of abstraction reliably and robustly, emerges. For the realisation of this approach, the control architecture MASSiVE has been implemented, which is used for the control of the rehabilitation robot FRIEND II. It supports task execution on the basis of a priori defined and formally verified task-knowledge. This task-knowledge contains all possible sequences of operations as well as the symbolic representation of objects required for the execution of a specific task. The seamless integration of user interactions into this task-knowledge, in combination with MASSiVE's user-adapted human–machine interface layer, enables the system to deliberately interact with the user during run-time.

The development and use of a spatial database for the determination and characterization of the state of the German Baltic small-scale fishery sector

2012 ◽  
Vol 69 (8) ◽  
pp. 1480-1490 ◽  
Author(s):  
Eva A. Papaioannou ◽  
Athanasios T. Vafeidis ◽  
Martin F. Quaas ◽  
Jörn O. Schmidt
Keyword(s):  
Spatial Database ◽  
The State ◽  
Primary Data ◽  
Small Scale ◽  
Substantial Progress ◽  
Technical Specifications ◽  
Data Deficient ◽  
Agriculture And Food ◽  
Operational Range

Abstract Papaioannou, E. A., Vafeidis, A. T., Quaas, M. F., and Schmidt, J. O. 2012. The development and use of a spatial database for the determination and characterization of the state of the German Baltic small-scale fishery sector. – ICES Journal of Marine Science, 69: . Although substantial progress has been made in the acquisition and analysis of fishery data, the small-scale fishery (SSF) sector is frequently data deficient, with relevant primary data often being fragmented and incomplete. Also, in contrast to the case of the larger scale sector, a coherent methodological framework for the assessment of the SSF has, in most cases, not been formulated. In the present study, the methodology of developing a database for the German Baltic SSF sector is presented. The aim of the database is to combine fishery primary data effectively and enable the sound determination and characterization of the German Baltic SSF sector. Data used include, among others, fleet data derived from the European Community Fleet Register (CFR) database and logbook data from the German Federal Office for Agriculture and Food (BLE). The database includes information on the technical specifications of SSF vessels (length, engine power, etc.); the sector's operational range; main target species; fishing grounds; landing ports; and weight and price of landings. Results of employing the database for profiling the state of the SSF sector (in 2008) are presented. The results demonstrate the benefits of such an approach within the framework of managing coastal fish resources and fishing activities.

scholarly journals MyPlate, Half-Plate, and No Plate: How Visual Plate-related Dietary Benchmarks Influence Meal Composition

2021 ◽  
Author(s):  
Brian Wansink ◽  
Audrey Wansink
Keyword(s):  
Young Adults ◽  
Vegetable Intake ◽  
Fruit And Vegetable Intake ◽  
Guidance System ◽  
Diary Study ◽  
Fruit And Vegetable ◽  
Food Diary ◽  
Change Behavior ◽  
Guidance Systems ◽  
Meal Composition

Can visual plate-related dietary guidance systems -- such as the MyPlate guideline or the Half-Plate Rule -- help people eat better when dining at home or in restaurants? To help explore this, 104 young adults completed a food diary study after having been randomly assigned to follow either 1) USDA MyPlate guidelines, 2) the Half-Plate Rule, or 3) no guidelines (control condition). Both of the visual dietary guidance systems were considered easy to understand, to follow, and left people with fewer questions about what to eat (all p<.01). Moreover, people who rated a system "easy to follow" indicated they had consumed less (meat (r = .268), but this was uncorrelated with fruit and vegetable intake (r =.092) and carbohydrate intake (r = .069). There are three key conclusions to these and other findings: First, the simplest guidance system may be more effective than no system. Second, even the most perfect dietary guidance system will not change behavior if the foods are not available or it is not followed. Third, guidance systems could over-increase the consumption of any food they specifically mention.

scholarly journals Determining the guidance system accuracy with the support of a large GNSS dataset

2013 ◽  
Vol 59 (Special Issue) ◽  
pp. S65-S70 ◽  
Author(s):  
V. Rataj ◽  
J. Galambošová ◽  
M. Vašek
Keyword(s):  
Monitoring System ◽  
Global Navigation Satellite Systems ◽  
Guidance System ◽  
Rectangular Coordinate System ◽  
Projection System ◽  
Satellite Systems ◽  
Ideal Line ◽  
Guidance Systems ◽  
Global Navigation Satellite ◽  
Gnss Data

Several methods are used presently to assess the accuracy of machinery guidance systems. However, these offer a limited number of records and are time and cost consuming. As the machinery is often equipped with a monitoring system for the management purposes, these data can be used. The aim of this work was to develop and verify a method to determine the accuracy of the machinery guidance systems based on a large dataset obtained from the machinery monitoring system. The proposed method uses the transformation of global navigation satellite systems (GNSS) data into a rectangular coordinate system SJTSK (National projection system &ndash; Krovak projection). Based on the geometry principle, the ideal line can be determined, and afterwards, the off-track error of each actual position can be calculated. After the verification of this method, it can be concluded that it brings benefits in terms of further use of the data from the monitoring systems, the estimation of the error based on a robust dataset, elimination of subjective and measurement method errors, as well as spatial localisation of the off-track errors at the field.

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