Application of robotics to stereotactic neurosurgery

Abstract

Advances in the field of stereotactic neurosurgery have depended on improvements in brain-imaging techniques, as well as development of new stereotactic frame systems. This paper describes the development of a stereotactic system based on a robotics model. The system employs the Unimation Puma Mark II Robotic System, specifically modified for use in stereotactic surgery. The robotic CT stereotactic system is mounted in a dedicated operating suite, containing a CT scanning gantry and adjacent computer room. Stereotactic coordinates are derived from CT scan data obtained intraoperatively and transferred by computer link to the robotic stereotactic system. The robotic arm is driven into place to align with predetermined coordinates. A variety of stereotactic procedures may then be carried out using the robotic 'hand' as a guide to the target. So far, the device has been used, only for lesion biopsy. However, future applications to functional neurosurgery are anticipated.