Clinical experiences and accuracy of stereoelectroencephalography using the robotic arm Cirq

IF 1.9 3区医学 Q3 CLINICAL NEUROLOGY

Acta Neurochirurgica Pub Date : 2025-04-29 DOI:10.1007/s00701-025-06541-4

Kohei Kanaya, Asuka Nakamura, Daishiro Abe, Yutaro Sato, Mana Wakabayashi, Tomoya Shigehara, Daichi Watanabe, Yuki Yoshizawa, Tetsuhiro Fukuyama, Tetsuyoshi Horiuchi

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Abstract

Background

Robot-assisted stereoelectroencephalography (SEEG) has become increasingly popular worldwide. Robotic arm Cirq (BrainLab, Munich, Germany) is an optional instrument for SEEG. This study aimed to evaluate the accuracy of electrode implantation using Cirq.

Methods

Data were retrospectively collected from 10 consecutive SEEG cases from July 2022 to August 2024 at our institute. Two cases of simultaneous SEEG and grid implantation via craniotomy were excluded. Eight SEEG cases (37 depth electrodes) were included in this study. We evaluated the accuracy of the electrode placement. The distances between the planned and actual site of entry and the target were measured in the anterior-posterior (Xe, Xt) and cranial-caudal (Ye, Yt) directions. The distance between the planned and the actual target site was measured at the surface depth (Zt). The two-dimensional differences of the entry (De₂) and target (Dt₂) and the three-dimensional differences, including the depth parameter of the target (Dt), were measured. The two-dimensional and three-dimensional Euclidean distances (ED₂, ED) were also calculated.

Results

The differences between the planned entry and the actual entry in Xe and Ye were 2.5 ± 1.6 mm and -0.6 ± 1.8 mm, respectively. De₂ was 3.2 ± 1.4 mm. The differences between the planned target and the actual target in Xt, Yt, and Zt were 2.1 ± 1.5 mm, 0.5 ± 1.5 mm, and 1.4 ± 2.9 mm, respectively. Dt₂ and Dt were 2.7 ± 1.4 mm and 4.1 ± 1.7 mm, respectively. ED₂ and ED were 1.8 ± 1.1 mm and 3.4 ± 1.8 mm, respectively.

Conclusions

We reported our initial experience with a high accuracy and features of the Cirq robotic arm for SEEG procedures using the standard surface matching method.

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机械臂Cirq立体脑电图的临床经验及准确性

机器人辅助立体脑电图（SEEG）在世界范围内越来越受欢迎。机械臂Cirq （BrainLab, Munich, Germany）是SEEG的可选仪器。本研究旨在评估Cirq电极植入的准确性。方法回顾性收集我院2022年7月至2024年8月连续10例SEEG患者的资料。排除开颅同时行SEEG和栅格植入2例。本研究纳入8例SEEG病例（37个深度电极）。我们评估了电极放置的准确性。在前后方向（Xe, Xt）和颅尾方向（Ye, Yt）测量计划和实际进入部位与目标之间的距离。在地表深度（Zt）处测量计划与实际目标地点之间的距离。测量了入口（De2）与目标（Dt2）的二维差值以及包括目标深度参数（Dt）在内的三维差值。计算了二维和三维欧几里得距离（ED2， ED）。结果Xe和Ye的计划进气量与实际进气量的差异分别为2.5±1.6 mm和-0.6±1.8 mm。De2为3.2±1.4 mm。计划目标与实际目标在Xt、Yt、Zt上的差异分别为2.1±1.5 mm、0.5±1.5 mm、1.4±2.9 mm。Dt2和Dt分别为2.7±1.4 mm和4.1±1.7 mm。ED2和ED分别为1.8±1.1 mm和3.4±1.8 mm。我们报告了使用标准表面匹配方法进行SEEG手术的Cirq机械臂的高精度和特征的初步经验。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Acta Neurochirurgica 医学-临床神经学

CiteScore

4.40

自引率

4.20%

发文量

342

审稿时长

1 months

期刊介绍： The journal "Acta Neurochirurgica" publishes only original papers useful both to research and clinical work. Papers should deal with clinical neurosurgery - diagnosis and diagnostic techniques, operative surgery and results, postoperative treatment - or with research work in neuroscience if the underlying questions or the results are of neurosurgical interest. Reports on congresses are given in brief accounts. As official organ of the European Association of Neurosurgical Societies the journal publishes all announcements of the E.A.N.S. and reports on the activities of its member societies. Only contributions written in English will be accepted.