Automatic trajectory generation for free-form pocket machining in skull base surgery

Abstract

The NeuroBot is a surgical robotic system being developed for the skull-base surgery. The skull-base which refers to the area of the skull that provides the base on which the brain rests, is one of the most complex regions in human anatomy as it contains critical features such as major blood vessels and critical nerves. Normally, 8 to 10 hours is required to drill a hole to gain access into the skull-base area to reach the lesion/tumor. The drilling process is slowed down by the uncertainties in the location of the vital features hence requires extra handling of the drilling tool. In view of these difficulties, the NeuroBot system is being developed with the main aim to assist the neurosurgeons in performing the skull-base surgery.