In this paper we present the results of the first patient experiment in craniofacial surgery of the INPRES system - an augmented reality system on the basis of a tracked see-through head-mounted display.

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Feasibility and Medical Impact Assessment of Handheld-Mobile-Robot usage in Image Guided Craniotomy

IFMBE proceedings (2009)

Gavin Kane Georg Eggers H Ioneścu V. M. M. Vieira R. Boesecke

10.1007/978-3-642-03906-5_10

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Development and First Patient Trial of a Surgical Robot for Complex Trajectory Milling

Computer Aided Surgery (2003)

Werner Korb Dirk Engel R. Boesecke Georg Eggers Bibiana Kotrikova

Objective: Today's surgical robots normally perform "simple" trajectories, e.g., assisting as tool-holding devices in neurosurgery, or milling linear paths for cavities in total hip replacement. From a clinical point of view, it is still a complex undertaking to implement robots in the operating room. Until now, robot systems have not been used in patient trials to mill "complex" trajectories, which involve many positional and orientation changes and are often necessary in cranio-maxillofacial (CMF) surgery. This paper presents the RobaCKa surgical robot system, which allows more precise execution of surgical interventions and milling of "complex" trajectories.Materials and Methods: The main components of the RobaCKa system are a (former) CASPAR robot system, a POLARIS system, and a force-torque sensor.Results: In the first patient trial (April 2003) the planned trajectory was executed with an error of 0.66 ± 0.2 mm.Conclusions: The use of former industrial robots for surgical applications is possible but complex. The advantages are improved precision and quality and the possibility of documentation. The use of such systems is normally limited to research institutions or large clinics, because it is hardly possible to implement the necessary technical and logistic efforts in routine surgical work.

Surgical robot

10.3109/10929080309146060

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Erstellung von normativen Formdaten zur Unterstützung der Planung chirurgischer Eingriffe am Schädelknochen

Informatik aktuell (2004)

Sascha Däuber Annika Straulino Jörg Raczkowsky Heinz Wörn Georg Eggers

10.1007/978-3-642-18536-6_53

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Image data acquisition and segmentation for accurate modeling of the calvarium

Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE (2004)

Georg Eggers Sascha Däuber Werner Korb Thomas Welzel Ruediger Marmulla

Accuracy of the patient-model is a critical point in robot assisted surgery. When performing craniotomies, the dura mater must not be perforated. Hence bone width is of particular interest. The influence of imaging and segmentation on accuracy of the width of the bone-model was investigated. A human cadaver head was scanned with a CT-scanner under a variety of image acquisition parameters. Bone was segmented from these image data sets using threshold based segmentation with different settings for the lower threshold. From these volume data sets surface models of the bone were generated. The real width of the bone of the skull was measured at several positions. Using fiducial marker registration, these measured values were compared to the corresponding positions in the bone-models. CT-scan imaging with a slice thickness and slice distance of 1.5 to 2mm and a segmentation of bone with a lower threshold of 300 or 400 Hounsfield Units resulted in models with an average accuracy of 0.4mm for bone-width. However, at some points these models were too thin by up to 0.9mm. More accurate models are needed. It has to be evaluated, whether CT imaging with higher resolution or more sophisticated segmentation algorithms can reduce the scatter.

Fiducial marker

Hounsfield scale

10.1117/12.534344

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Light-weight robot stability for orthognathic surgery. Phantom and animal cadavar trials

CURAC (2010)

V. M. M. Vieira Gavin J. Kane H. Ionesco Jörg Raczkowsky R. Boesecke

Despite significant improvements orthognathic surgery in the past years, there is still room for improvement. Since the objective of this surgery is to position one jaw in relationship to another (and base skull), orthognathic surgery is a good candidate for a systematic robotic approach. Coupling and holding the maxilla by a robot has already been discussed in prior work; with this study we discuss the next stage of the surgical workflow which involves holding the target position while the surgeon drills and fastens the maxilla. The LBR3 was tested in laboratory for its stability and usability. The results indicate a shift in target position almost 1.5mm and overshoot upon release of force. Recovery of the original position was established with errors below 0.01mm, and orientation up to 0.06o. Also identified with the LBR3 is the axis stability difference. Finally this study concludes that the LBR3 is adequate to assist in orthognathic surgery.

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