A toolchain for deployment of concentric tube continuum robots as curved cannulae in stereotactic neurosurgery

Abstract:
In this paper, we present a methodology and toolchain for deploying concentric tube continuum robots as curved cannulae in stereotactic neurosurgery. We aim towards performing a whole robotic surgery procedure on a phantom head with artificial target and obstacle markers under clinical conditions. At first, a computed tomography scan of the head with applied localization markers – defining the patient’s coordinate system – is generated. Based on this, we identify and label the skull, entry and target regions, as well as obstacles inside the imaging data. Path planning is carried out by manual and automatic approaches using state-of-the-art cannula models. For the resulting path, the target parameters of the stereotactic head frame are calculated. The robot is then attached to the head frame and actuated according to the planning.