Influence of the Localization Strategy on the Accuracy of a Neurosurgical Robot System

摘要

Precise navigation of surgical instruments is one of the most important features of autonomous surgical robots. In this paper, we introduce a concept of robot localization strategy and analyse its influence on the overall application error of a robot system for frameless stereotactic neurosurgery named RONNA. Localization strategies utilize specific angles at which the robot can approach a target point, orientations, and types of movement during the procedure of physical space fiducial marker localization and positioning to the target points. The localization strategies developed in this study are a neutral orientation strategy (NOS), an orientation correction strategy (OCS) and a joint displacement minimization strategy (JDMS). To evaluate the robot positioning performance with the localization strategies applied, we performed laboratory phantom measurements using a different number of fiducial markers in the registration procedure. When three, four, and five fiducial markers were used, the application error for the NOS was 1.5710.256 mm, 1.3970.283 mm, and 1.3270.274 mm, and for the OCS, it was 0.4290.133 mm, 0.2840.068mm, and 0.2600.076 mm, respectively. The application error for the JDMS was 0.4930.176 mm with four and 0.3690.160 mm with five fiducial markers used.