Minimally invasive robotic HIFU neurosurgical applications

Due to complex anatomy and functionality of brain, volumetric excision of abnormal tissue targets such as tumors/cancers poses a great risk as it is difficult without causing harm to the overlying normal structures. Minimally invasive and non-invasive robotic approaches are being widely investigated as alternatives to traditional open surgery due to their advantages in accurate planning, registration, navigation and manipulation. In this paper, we present robot-assisted minimally invasive means for volumetric ablation of brain tumors using High Intensity Focused Ultrasound (HIFU) modality through a precise craniotomy. The end-effector is capable of integrating and registering the prevalent single, multiple or phased array applicators coupled to duramater using a flexible degassed water chamber. Our customized modular robot named, Neurobot, comprising of various modules that work in active and passive modes and its treatment planning are described. The robot is equipped with alternating end-effectors respectively for drilling and energy delivery and the measured accuracy of this system is within 0.1 mm.