Integrating an Image-Guided Robot with Intraoperative MRI

Abstract

Microsurgical techniques, together with the introduction of intraoperative magnetic resonance imaging (MRI), established the need and the environment for the integration of robotics with surgery. In this article, we summarize our experience with intraoperative MRI on 781 neurosurgical patients. Intraoperative MRI demonstrated unsuspected residual pathology in up to 20% of patients. To take full advantage of the imaging environment, an magnetic resonance (MR)-compatible image-guided robot capable of both microsurgery and stereotaxy was designed and constructed. Unique features of the system include the use of non-ferromagnetic materials, an end effector that actuates standard surgical instrumentation, automated tool exchange, and haptic feedback.