Naslov
RONNA G4 - Robotic neuronavigation: a novel robotic navigation device for stereotactic neurosurgery

Autori
Jerbić, Bojan ; Švaco, Marko ; Chudy, Darko ; Šekoranja, Bojan ; Šuligoj, Filip ; Vidaković, Josip ; Dlaka, Domagoj ; Vitez, Nikola ; Župančić, Ivan ; Drobilo, Luka ; Turković, Marija ; Žgaljić, Adrian ; Kajtazi, Marin ; Stiperski, Ivan ;

Vrsta, podvrsta i kategorija rada
Poglavlja u knjigama, stručni

Knjiga
Handbook of robotic and image-guided surgery

Urednik/ci
H. Abedin-Nasab, Mohammad

Izdavač
Elsevier

Grad
Amsterdam

Godina
2020

Raspon stranica
599-625

ISBN
978-0-12-814245-5

Ključne riječi
robotics ; RONNA ; neurosurgery ; stereotactic neuronavigation ; machine vision ; localization ; registration ; clinical trials

Sažetak
RONNA G4 (RONNA) is a robotic neuronavigation system based on articulated robotic arms and is intended for minimal invasive stereotactic procedures such as biopsies, stereoelectroencephalography, epilepsy surgeries, deep brain stimulation, and tumor resections. RONNA can be configured as a single- or dual-arm system: the single-arm system is intended for stereotactic neuronavigation and serves as a navigation assistant to the surgeon, while the dual-arm configuration performs autonomous invasive operation tasks such as bone drilling, probe or needle insertion, etc. RONNA is characterized by a fully automated patient registration procedure, robot position planning, accurate instrument guidance, and autonomous bone drilling. A novel localization method was developed combining machine vision and mathematical estimation, as well as a novel point-pairing correspondence algorithm and a multiobjective cost function for the optimization of robot placement. RONNA provides surgical tool positioning within the patient intracranial space, robotic assistance in drilling operations, and others which are distinguished by extraordinary accuracy in comparison to existing robotic and other neuronavigation systems. The clinical application of RONNA in stereotactic neurosurgical procedures shortens the operation time, lowers procedure invasiveness, enables faster patient recovery, and better utilization of hospital operational resources. Starting from 2016, RONNA has been undergoing clinical trials at the University Hospital Dubrava.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo, Kliničke medicinske znanosti

POVEZANOST RADA