RONAF

Robotergestützte Navigation beim Fräsen an der lateralen Schädelbasis (deutsch)
Robot-based Navigation for Milling at the Lateral Skull Base (english)

Abstract

The goal of the RONAF project is the development and examination of a system for navigation on the lateral skull base. This system's purpose is the interactive supervision of a surgical robot during interventions.
Modular multilevel navigation and control procedures are being used. The operation is planned on a preoperatively acquired 3D dataset (e.g. CT or MRT). The robot and its attached tool are moved relative to this dataset. For local navigation and control, the robot is given intraoperative sensory feedback (force/torque readings, temperature, ultrasound scans, electrophysiological excitation, infrared tracking system, ...). Automated evaluation of this data guarantees protection of vital structures.

Robot milling system	A volume milled into a human skull with the implant inserted

The project received funding from the DFG (Deutsche Forschungsgemeinschaft) within the "SPP 1124: Medizinische Navigation und Robotik" during 2002-2008.

Applications

Applications for lateral skull base milling that are examined with the RONAF system are:

• Robot-assisted milling of volumes on the lateral base of the skull for hearing aids
• Endoscopic examination and cartography of openings and cavities
• Precision milling tasks for the creation of casts and prototypes
• The excavation of an implant bed (for example for cochlea or amplifier implants)
• The removal of the mastoid process (mastoidectomy)

Interventions of this kind demand extreme precision (with tolerances well below one millimeter) in spite of the high force required to remove larger quantities of bone, a combination that is very straining for a surgeon.
The development of the proposed system would thus represent a great improvement in processing quality. Moreover, rising case numbers coupled with rising demand for implantable hearing aids can be expected, making the development of such systems all the more important.

Contact

• Lehrstuhl für Angewandte Informatik III
  (Robotik und Eingebettete Systeme)
  Universität Bayreuth
  • Prof. Dr. Dominik HENRICH
  • Dipl.-Inf. Philipp J. STOLKA
  • Dipl.-Inf. Michel WARINGO
• Hals-Nasen-Ohrenklinik,
  Universitätsklinikum Heidelberg:
  • AG Robotik und Ultraschall
  • main page

Pictures

Pictures for press usage are available here.

Videos

• Videos
  • Implantation of a hearing aid into the human skull AVI, 6.2 MB
  • Milling concentric paths AVI, 2.8 MB (Planned paths)
  • Milling parallel paths AVI, 2.8 MB (Planned paths)
  • Milling potential field based paths AVI, 2.4 MB (Planned paths)
  • Temperature development during milling
    no speed control (5 mm/s): AVI, 2.3 MB
    with speed control (10 N): AVI, 1.6 MB
  • TV broadcast (SWR, November 2002) AVI, 2.7 MB
• Images
  • System Setup: Milling in a preparation (JPG)
  • Excavation of an implant bed in a preparation (JPG)
  • Skull approximation with a milling tool (JPG)
  • Robot-guided ultrasound imaging (A-mode) of the calotte bone (JPG)
  • Robot-guided ultrasound imaging (B-mode) of the calotte bone (JPG)
  • to the image index
• Newspaper reports
  • Handelsblatt Nr. 133, S. 17 - Montag, 15. Juli 2002:
    "Roboter sorgt für präzisen Eingriff am Schädel"
    (JPEG, 227 KB)
  • Die Rheinpfalz Nr. 31 - Mittwoch, 6. Februar 2002:
    "Roboter fräst präzise Schädelknochen auf"
    (JPEG, 299 KB)
• Audio
  • Radio broadcast (2002) (MP3, 3.7 MB)

Publications

• RESYPUB
  • Waringo, Michel ; Henrich, Dominik (2008)
    "Smoothing of Piecewise Linear Paths"
    (International Journal of Advanced Robotic Systems, Ars Journal, ISSN 1729-8806)
    
  • Stolka, Philipp ; Federspil, Philipp A. ; Henrich, Dominik ; Tretbar, Steffen H. (2008)
    "First 3D Ultrasound Scanning, Planning, and Execution of CT-free Milling Interventions with a Surgical Robot"
    (EMBC 2008 - 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (Vancouver, British Columbia, Canada))
    
  • Waringo, Michel ; Henrich, Dominik (2008)
    "Smoothing of Piecewise Linear Paths"
    (I-Tech Education and Publishing, Vienna, 2008)
    ISBN 978-953-7619-01-5, http://www.books.i-techonline.com/mrmp.html
    
  • Stolka, Philipp ; Henrich, Dominik (2007)
    "Using Maps from Local Sensors for Volume-Removing Tools"
    (2007 IEEE International Conference on Intelligent Robots and Systems, San Diego/USA)
    
  • Stolka, Philipp ; Federspil, Philipp A. ; Henrich, Dominik ; Tretbar, Steffen H. ; Waringo, Michel (2007)
    "Robot-Based 3D Ultrasound Scanning and Registration with Infrared Navigation Support"
    (ICRA 2007, IEEE International Conference on Robotics and Automation, Rome/Italy, 10.-14.04.2007)
    
  • Stolka, Philipp ; Federspil, Philipp A. ; Henrich, Dominik ; Tretbar, Steffen H. ; Waringo, Michel (2006)
    "Robot-Assisted 3D Ultrasound Scanning with IR Navigation Support"
    (CURAC 2006, Hannover, 12.-14.10.2006)
    
  • Stolka, Philipp ; Henrich, Dominik (2006)
    "Improving Navigation Precision of Milling Operations in Surgical Robotics"
    (IROS 2006 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, October 9-15, 2006)
    
  • Waringo, Michel ; Henrich, Dominik (2006)
    "Efficient smoothing of piecewise linear paths with minimal deviation"
    (IROS 2006, IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing/China, 9.-15. 10. 2006, pp. 3867-3872)
    
  • Stolka, Philipp ; Henrich, Dominik (2005)
    "Building Local Maps in Surgical Robotics"
    (IROS 2005, Edmonton, Alberta/Canada)
    
  • Waringo, Michel ; Henrich, Dominik (2004)
    "3-dimensionale schichtweise Bahnplanung für Any-Time-Fräsanwendungen"
    (Robotik 2004, München, 17.-18. 6. 2004, VDI-Berichte 1841, pp. 781-788)
    
  • Henrich, Dominik ; Stolka, Philipp (2004)
    "Principles of Navigation in Surgical Robotics"
    (MRNV 2004 - Medical Robotics, Navigation and Visualisation, Remagen/Germany, March 11-12, 2004)
    
  • Waringo, Michel ; Henrich, Dominik ; Stolka, Philipp (2003)
    "First System for Interactive Position Planning of Implant Components"
    (CURAC 2003, Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V., Nürnberg, 4.-7. 11. 2003)
    
  • Waringo, Michel ; Henrich, Dominik ; Stolka, Philipp (2003)
    "3-Dimensionale Schichtweise Bahnplanung für Anytime-Fräsanwendungen"
    presented at CURAC 2003, Nürnberg, Germany
    
  • Federspil, Philipp A. ; de Mola, C. ; Geisthoff, Urban W. ; Henrich, Dominik ; Plinkert, Peter K. ; Stolka, Philipp (2003)
    "Force Feedback Control of Robot's Speed Prevents Heat Trauma in Robotic Milling at the Lateral Skull Base"
    presented at CURAC 2003, Nürnberg, Germany
    
  • Waringo, Michel ; Henrich, Dominik ; Stolka, Philipp (2003)
    "3-Dimensional Layered Path Planning for Anytime Milling Applications"
    (CURAC 2003, Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V., Nürnberg, 4.-7. 11. 2003)
    
  • Federspil, Philipp A. ; Henrich, Dominik ; Plinkert, Beate ; Plinkert, Peter K. (2003)
    "Computer- und Roboter-Assistierte Chirurgie zum Kraft-Rückgekoppelten Fräsen eines knöchernen Implantatlagers an der Lateralen Schädelbasis"
    (Erkrankungen der Schädelbasis)
    
  • Stolka, Philipp ; Henrich, Dominik (2003)
    "A Hybrid Force Following Controller For Multi-Scale Motions"
    (SYROCO 2003 - 7th International Symposium on Robot Control, Sept 1-3, 2003 - Wrocław/Poland)
    
  • Federspil, Philipp A. ; Geisthoff, Urban W. ; Henrich, Dominik ; Plinkert, Peter K. (2003)
    "Development of the First Force-Controlled Robot for Otoneurosurgery"
    (Laryngoscope 113: March 2003)
    
  • Henrich, Dominik (2002)
    "Robotergestütztes Fräsen an der lateralen Schädelbasis: Kraft-basierte lokale Navigation bei der Implantatbettanlage"
    (VDI-Bericht 1679 - Tagungshandbuch zur Robotik 2002, Ludwigsburg, 19. und 20. Juni 2002)
    
  • Plinkert, Peter K. ; Federspil, Philipp A. ; Henrich, Dominik ; Plinkert, Beate (2001)
    "Kraft-basierte lokale Navigation zur robotergestützten Implantatbettanlage im Bereich der lateralen Schädelbasis"
    (Journal HNO 2002, vol. 50, pp. 233-239)
    
• Databases etc.
  • RONAF project site of the project partner "Hals-Nasen-Ohrenklinik, Universitätsklinikum Heidelberg"
    (further publications)
  • Publications of the project partner "Hals-Nasen-Ohrenklinik, Universitätsklinikum Heidelberg"
• 2003
  • Peters, M.:
    "RONAF: Entwicklung einer ergonomischen Benutzerführung für einen Chirurgieroboter"
    (Projektarbeit)
• 2002
  • Stolka, Ph.:
    "RONAF: Auswertung von Kraftsensordaten"
    (Diplomarbeit: Abstract)
• 2001
  • Stolka, Ph.:
    "ROTOS (Robot-assisted otolaryngology surgery): Voruntersuchungen zum Sensoreinsatz"
    (Projektarbeit: Abstract)
  • Waringo, M.:
    "ROTOS (Robot-assisted otolaryngology surgery): Planung von Fräsbahnen"
    (Projektarbeit: Abstract)

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Last change: 30.6.2009-15:29:28

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