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• W1896965179 abstract "Ventriculostomy is a widely performed neurosurgical procedure; some risk factors can be mitigated by computer/robot-assisted approaches. Platforms fostering synergistic robot-surgeon integration are pursued, for which lightweight robots with compliant controlled joints must be assessed (because compliance hampers accuracy).We developed a platform encompassing, in particular, a lightweight robot and an optical tracker also used to enhance robot accuracy. Based on specifications by neurosurgeons, we designed a neuroendoscope-handling interface and assessed targeting accuracy in a model ventriculostomy where the robot was operated both autonomously and in hands-on (i.e. co-operative) mode.Targeting errors were systematically below the procedure accuracy threshold (1 mm); the rms targeting errors were 0.51 and 0.54 mm for autonomous and hands-on control, respectively. No significant difference was observed between the considered control modes. Very positive feedback was gathered from neurosurgeons.Accurate tool targeting under both autonomous and hands-on control was achieved." @default.
• W1896965179 created "2016-06-24" @default.
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• W1896965179 date "2015-01-19" @default.
• W1896965179 modified "2023-10-06" @default.
• W1896965179 title "Development and preliminary assessment of a robotic platform for neuroendoscopy based on a lightweight robot" @default.
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• W1896965179 doi "https://doi.org/10.1002/rcs.1638" @default.
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