A stereotaxic image-guided surgical robotic system for depth electrode insertion

摘要

This article constructs a surgical robotic system for the stereotactic insertion of the depth electrodes for stereoelectroencephalogram (SEEG). The purpose is to increase the efficiency of the stereotactic insertion of the electrodes. The registration method of this system is based on the noninvasive fiducial markers. After registration, the robotic system can locate all the preplanned electrode trajectories automatically. The validation of this proposed system has been performed by testing the time consumption of the system workflow and measuring the positioning accuracy on phantoms. From the result, we conclude that this surgical robotic system can assist surgeons in performing the stereotactic insertion of the depth electrodes accurately and efficiently.