A Novel Robotic Neuronavigation System: RONNA G3

863 Views
614 Downloads
Export citation: ABNT
ŠVACO, Marko ;ŠEKORANJA, Bojan ;ŠULIGOJ, Filip ;VIDAKOVIĆ, Josip ;JERBIĆ, Bojan ;CHUDY, Darko .
A Novel Robotic Neuronavigation System: RONNA G3. 
Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 63, n.12, p. 725-735, june 2018. 
ISSN 0039-2480.
Available at: <https://www.sv-jme.eu/article/a-novel-robotic-neuronavigation-system-ronna-g3/>. Date accessed: 21 aug. 2019. 
doi:http://dx.doi.org/10.5545/sv-jme.2017.4649.
Švaco, M., Šekoranja, B., Šuligoj, F., Vidaković, J., Jerbić, B., & Chudy, D.
(2017).
A Novel Robotic Neuronavigation System: RONNA G3.
Strojniški vestnik - Journal of Mechanical Engineering, 63(12), 725-735.
doi:http://dx.doi.org/10.5545/sv-jme.2017.4649
@article{sv-jmesv-jme.2017.4649,
	author = {Marko  Švaco and Bojan  Šekoranja and Filip  Šuligoj and Josip  Vidaković and Bojan  Jerbić and Darko  Chudy},
	title = {A Novel Robotic Neuronavigation System: RONNA G3},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {63},
	number = {12},
	year = {2017},
	keywords = {robotic neuronavigation; frameless stereotaxy; minimal invasive surgery; RONNA G3},
	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. },
	issn = {0039-2480},	pages = {725-735},	doi = {10.5545/sv-jme.2017.4649},
	url = {https://www.sv-jme.eu/article/a-novel-robotic-neuronavigation-system-ronna-g3/}
}
Švaco, M.,Šekoranja, B.,Šuligoj, F.,Vidaković, J.,Jerbić, B.,Chudy, D.
2017 June 63. A Novel Robotic Neuronavigation System: RONNA G3. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 63:12
%A Švaco, Marko 
%A Šekoranja, Bojan 
%A Šuligoj, Filip 
%A Vidaković, Josip 
%A Jerbić, Bojan 
%A Chudy, Darko 
%D 2017
%T A Novel Robotic Neuronavigation System: RONNA G3
%B 2017
%9 robotic neuronavigation; frameless stereotaxy; minimal invasive surgery; RONNA G3
%! A Novel Robotic Neuronavigation System: RONNA G3
%K robotic neuronavigation; frameless stereotaxy; minimal invasive surgery; RONNA G3
%X 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. 
%U https://www.sv-jme.eu/article/a-novel-robotic-neuronavigation-system-ronna-g3/
%0 Journal Article
%R 10.5545/sv-jme.2017.4649
%& 725
%P 11
%J Strojniški vestnik - Journal of Mechanical Engineering
%V 63
%N 12
%@ 0039-2480
%8 2018-06-27
%7 2018-06-27
Švaco, Marko, Bojan  Šekoranja, Filip  Šuligoj, Josip  Vidaković, Bojan  Jerbić, & Darko  Chudy.
"A Novel Robotic Neuronavigation System: RONNA G3." Strojniški vestnik - Journal of Mechanical Engineering [Online], 63.12 (2017): 725-735. Web.  21 Aug. 2019
TY  - JOUR
AU  - Švaco, Marko 
AU  - Šekoranja, Bojan 
AU  - Šuligoj, Filip 
AU  - Vidaković, Josip 
AU  - Jerbić, Bojan 
AU  - Chudy, Darko 
PY  - 2017
TI  - A Novel Robotic Neuronavigation System: RONNA G3
JF  - Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2017.4649
KW  - robotic neuronavigation; frameless stereotaxy; minimal invasive surgery; RONNA G3
N2  - 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. 
UR  - https://www.sv-jme.eu/article/a-novel-robotic-neuronavigation-system-ronna-g3/
@article{{sv-jme}{sv-jme.2017.4649},
	author = {Švaco, M., Šekoranja, B., Šuligoj, F., Vidaković, J., Jerbić, B., Chudy, D.},
	title = {A Novel Robotic Neuronavigation System: RONNA G3},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {63},
	number = {12},
	year = {2017},
	doi = {10.5545/sv-jme.2017.4649},
	url = {https://www.sv-jme.eu/article/a-novel-robotic-neuronavigation-system-ronna-g3/}
}
TY  - JOUR
AU  - Švaco, Marko 
AU  - Šekoranja, Bojan 
AU  - Šuligoj, Filip 
AU  - Vidaković, Josip 
AU  - Jerbić, Bojan 
AU  - Chudy, Darko 
PY  - 2018/06/27
TI  - A Novel Robotic Neuronavigation System: RONNA G3
JF  - Strojniški vestnik - Journal of Mechanical Engineering; Vol 63, No 12 (2017): Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2017.4649
KW  - robotic neuronavigation, frameless stereotaxy, minimal invasive surgery, RONNA G3
N2  - 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. 
UR  - https://www.sv-jme.eu/article/a-novel-robotic-neuronavigation-system-ronna-g3/
Švaco, Marko, Šekoranja, Bojan, Šuligoj, Filip, Vidaković, Josip, Jerbić, Bojan, AND Chudy, Darko.
"A Novel Robotic Neuronavigation System: RONNA G3" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 63 Number 12 (27 June 2018)

Authors

Affiliations

  • University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Croatia
  • University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Croatia
  • University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Croatia
  • University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Croatia
  • University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Croatia
  • University Hospital Dubrava, Department of Neurosurgery, Croatia

Paper's information

Strojniški vestnik - Journal of Mechanical Engineering 63(2017)12, 725-735

10.5545/sv-jme.2017.4649

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.

robotic neuronavigation; frameless stereotaxy; minimal invasive surgery; RONNA G3