Enhanced torque-based impedance control to assist brain targeting during open-skull neurosurgery: a feasibility study

E. Beretta, F. Nessi, G. Ferrigno, Francesco Dimeco, Alesandro Perin, Lorenzo Bello, Giuseppe Casaceli, F. Raneri, Alessandro De Benedictis, Elena De Momi

Research output: Contribution to journalArticle

Abstract

Background: Cooperatively-controlled robotic assistance could provide increased positional accuracy and stable and safe tissue targeting tasks during open-skull neurosurgical procedures, which are currently performed free-hand. Methods: Two enhanced torque-based impedance control approaches, i.e. a variable damping criterion and a force-feedback enhancement control, were proposed in combination with an image-based navigation system. Control systems were evaluated on brain-mimicking phantoms by 13 naive users and 8 neurosurgeons (4 novices and 4 experts). Results: In addition to a 60% reduction of user effort, the combination of the proposed strategies showed comparable performances with respect to state-of-the-art admittance controller, thus satisfying the clinical accuracy requirements (below 1 mm), reducing the hand tremor (by a factor of 10) and the tissue's indentation overshooting (by 80%). Conclusion: Although the perceived reliability of the system should be improved, the proposed control was suitable to assist targeting procedures, such as brain cortex stimulation, allowing for accurate, stable and safe contact with soft tissues. Copyright © 2015 John Wiley & Sons, Ltd.

Original languageEnglish
Pages (from-to)326-341
Number of pages16
JournalInternational Journal of Medical Robotics and Computer Assisted Surgery
Volume12
Issue number3
DOIs
Publication statusPublished - Sep 1 2016

Keywords

  • cooperative control
  • robotic neurosurgery
  • targeting task

ASJC Scopus subject areas

  • Computer Science Applications
  • Biophysics
  • Surgery

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