Švaco, Marko and Šekoranja, Bojan and Šuligoj, Filip and Vidaković, Josip and Jerbić, Bojan and Chudy, Darko (2017) A novel robotic neuronavigation system: RONNA G3. = A novel robotic neuronavigation system: RONNA G3. Strojniški Vestnik/Journal of Mechanical Engineering, 63 (12). pp. 725-735. ISSN 0039-2480. Vrsta rada: ["eprint_fieldopt_article_type_article" not defined]. Kvartili JCR: Q3 (2017). Točan broj autora: 6.
|
Text
Jerbić, Bojan_A novel robotic neuronavigation system RONNA G3.pdf - Published Version Jezik dokumenta:English Download (1MB) | Preview |
Abstract
This paper presents a novel robotic neuronavigation system, RONNA G3, developed for frameless stereotactic navigation based on standard industrial robots. The basic version of the RONNA G3 system has three main components: a robotic arm on a universal mobile platform, a planning system, and a navigation system. We have developed a stereovision localization device (RONNAstereo) that can be attached to the robot end effector for accurate non-contact localization of the patient in the operating room. RONNAstereo has two infrared (IR) cameras with macro lenses aligned at a 55° angle in the same plane. We have evaluated the application accuracy of the RONNA G3 system in a phantom study with two different registration methods. The first registration method involves a rigid fiducial marker with four retroreflective spheres (spherical fiducials). The second method uses freely distributed individual spherical fiducials mounted on single bone screws. We have evaluated the RONNA G3 positioning error for superficial (< 50 mm) and deep (50 mm to 120 mm) targets. The mean target positioning error (TPE) of the RONNA G3 system for superficial and deep targets was 0.43 mm (interquartile range 0.22 mm to 0.60 mm) and 0.88 mm (interquartile range 0.66 mm to 1.10 mm), respectively. Given the positioning errors from the phantom trials, we have prepared the system for clinical trials, which are currently in progress.
| Item Type: | Article (["eprint_fieldopt_article_type_article" not defined]) |
|---|---|
| Keywords (Croatian): | robotic neuronavigation; frameless stereotaxy; minimal invasive surgery; RONNA G3 |
| Subjects: | TECHNICAL SCIENCE > Computing |
| Divisions: | 900 Department of Robotics and Production System Automation > 920 Chair of Manufacturing and Assembly System Planning |
| Indexed in Web of Science: | Yes |
| Indexed in Current Contents: | No |
| Citations JCR: | 0 (21.09.2018.) |
| Quartiles: | Q3 (2017) |
| Date Deposited: | 21 Sep 2018 11:49 |
| Last Modified: | 26 Oct 2018 10:53 |
| URI: | http://repozitorij.fsb.hr/id/eprint/8799 |
Actions (login required)
 |
View Item |
Download Statistics
Download Statistics