A Simple Control Approach for Stereotactic Neurosurgery Using a Robotic Manipulator

In this paper, it is described a simple, expandable and easily integrable robotic system to be a direct replacement to the stereotactic frame in minimally invasive neurosurgeries. Robotic systems have several advantages over the traditional frame used in stereotactic neurosurgeries such as, improved precision, steadiness and flexibility. However, the robotic systems cleared to perform this procedure are closed and costly. A robotic manipulator was selected, based on repeatability, compactness and controller accessibility. The control application developed includes a registration module to calibrate the robot to the surgical reference frame and several algorithms that allow a precise and consistent, drilling and electrode guidance. Safety was the most important factor when designing the control application, and several mechanisms were implemented that replicate the market cleared robotic systems.