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A robot with improved absolute positioning accuracy for CT guided stereotactic brain surgery

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4 Author(s)
Y. S. Kwoh ; CT Res., Memorial Med. Center, Long Beach, CA, USA ; J. Hou ; E. A. Jonckheere ; S. Hayati

The use of a Unimation Puma 200 robot, properly interfaced with a computerized tomographic (CT) scanner and with a probe guide mounted at its end effector for CT-guided brain tumor biopsis is discussed. Once the target is identified on the CT picture, a simple command allows the robot to move to a position such that the end-effector probe guide points toward the target. This results in a procedure faster than one using a manually adjustable frame. Probably the most important advantage, as is shown, is the improved accuracy that can be achieved by proper calibration of the robot.

Published in:

IEEE Transactions on Biomedical Engineering  (Volume:35 ,  Issue: 2 )