gms | German Medical Science

76. Jahresversammlung der Deutschen Gesellschaft für Hals-Nasen-Ohren-Heilkunde, Kopf- und Hals-Chirurgie e. V.

Deutsche Gesellschaft für Hals-Nasen-Ohren-Heilkunde, Kopf- und Hals-Chirurgie e. V.

04.05. - 08.05.2005, Erfurt

Lasertriangulation improves intraoperative 3D-quality assessment in robotic assisted surgery

Meeting Abstract

  • corresponding author Marcus Maassen - Department of Otolaryngology - Head and Neck Surgery, Tübingen
  • author Jan Stallkamp - Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA, Stuttgart
  • author Florian Dammann - University Hospital of Radiology, Department of Diagnostic Radiology, Tübingen
  • author Erwin Schwaderer - University Hospital of Radiology, Department of Diagnostic Radiology, Tübingen
  • author Armin Schäfer - Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA, Stuttgart
  • author Dirk Malthan - Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA, Stuttgart

Deutsche Gesellschaft für Hals-Nasen-Ohren-Heilkunde, Kopf- und Hals-Chirurgie. 76. Jahresversammlung der Deutschen Gesellschaft für Hals-Nasen-Ohren-Heilkunde, Kopf- und Hals-Chirurgie e.V.. Erfurt, 04.-08.05.2005. Düsseldorf, Köln: German Medical Science; 2005. Doc05hno108

Die elektronische Version dieses Artikels ist vollständig und ist verfügbar unter: http://www.egms.de/de/meetings/hno2005/05hno225.shtml

Veröffentlicht: 22. September 2005

© 2005 Maassen et al.
Dieser Artikel ist ein Open Access-Artikel und steht unter den Creative Commons Lizenzbedingungen (http://creativecommons.org/licenses/by-nc-nd/3.0/deed.de). Er darf vervielf&aauml;ltigt, verbreitet und &oauml;ffentlich zug&aauml;nglich gemacht werden, vorausgesetzt dass Autor und Quelle genannt werden.


Gliederung

Text

Background: Robotic assisted surgery in the lateral base of the skull requires high-precision. Although robot technology has been shown to facilitate precision milling, adequate safety measures need to be implemented to prevent errors occurring during the reduction process and navigation systems need to be installed in the robots.

Materials and Methods: The performance of the newly-developed semiautomatic ROBIN assistant system on osseous milling accuracy was evaluated using refernce objects and animal models. An existing prototype system for robot-assisted ear, nose and throat surgery was equipped with laser sensors for geometric measurement of the operation site. The three-dimensional measurement data were compared with CT simulation data before, during and after the robot-assisted operation.

Results: Under ideal conditions, the operation site can be measured at a spatial resolution of less than 0.02 mm in each dimension. However, reflections and impurities in the operation site from bleeding and rinsing fluids have a detrimental effect on data acquisition. This made specific registering procedures necessary which kept the effective registration error below 0.3 mm. After milling, the margin of error in the resultant shape relative to the intended shape was 0.8 mm.

Conclusion: Robot assisted systems can reach the accuracy levels required for reliable microsurgery on the cranial base. High-resolution, laser-based geometric measurement of the operation site enables 3-D and dynamical head registration without additional artificial landmarks. Navigated surgery ensures that the milled cavity matches the intended shape as determined in the preoperative planning phase. This will enable not only quantitative analysis of the quality of robot-assisted surgery in the future but will also enable improvements to be made.