braintrust ippd final presentation
TRANSCRIPT
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Image Guided System for Intracranial
Neurosurgery 1
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Project Overview
• Problem:– Neurosurgery is complicated, expensive, and not fully
accessible– McKnight Brain Institute developed surgical planning
software that generates a 3D printed mask guide– Mask cannot be sterilized, software is not accessible
• Solution:– Create an easy to use, web based interface for software– Design an articulating arm that can align with position
set by mask and maintain that position after sterilization
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Software Specifications
• Simple easy to follow user interface• Web Accessible• Ability to upload MRI/CT files• View target and entry point in all three
anatomical planes• Ability to view 3D model of patient head
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Software Overview• Developed a simple and easy to use web-
based user interface• No cost to develop• Not hardware dependent • Not browser dependent• Functional 3D model from MRI files
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Hardware Specifications
Mechanical interface for positioning of surgical probe according to target location specified by software-generated mask:– Simple, Easy to use articulating arm
• Pneumatic, passively locking device• Manual manipulation• Minimize size and weight
• Compatible w/ Medtronic articulating arm• 5 degrees of freedom• Maintain sterility: detachable probe head• Maintain accuracy of probe positioning ~2 mm
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Hardware Design Overview“Dumbbell” design• 5” rigid shaft• Ball joints• Cylinder enclosures
Pneumatic locking mechanism• Passively locks• Air pressure supplied
w/ foot pedal6
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Pneumatic Locking Mechanism
• Stacks of washers and wave springs clamp ball
• Silicone tubing inflates to unclamp ball
• Ball freely moves while air pressure is supplied
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Test Overview
Tests were performed using a phantom to set a target point whose 3D coordinates can be measured in millimeters.1. Locking Mechanism Test
AIM: To assess the accuracy of the pneumatic locking mechanism.
• Unlock arm, line up to target position, lock arm, measure any deviation from target position
2. Loading TestAIM: To determine how much force the arm can withstand while maintaining the set position.
• Applied varying upward loads to see working deflection after locking
• Assessed permanent deflection after force is removed8
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Locking Test Results
The average error was found to be:• 1.6±0.43 mm in the
x-direction• 1.15±0.37 mm in the
y-direction• 0.6±0.4 in the z
direction.
Prototype was successful in meeting +/- 2mm accuracy standard.
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Loading Test Results
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Technical Performance Measures
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Cost Analysis
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• Total cost of prototype fabrication was $754.34
• Substantially cheaper than current system (roughly $1 Million)
• Improved manufacturing and producing in bulk could make a device for less than $100
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Recommendations– Hardware
• Improve accuracy and reduce cost through optimized manufacturing
– Software• Allow for multiple trajectories to be set by the surgeon• Connect to server and perform tests
– Testing• Increase sample size• Perform Survey of Surgeons• Test in operating room
– Product• File for patent• FDA 510(k) Acceptance
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Conclusions• Successful at creating a functional, two part
image-based guidance system– Software has high data capacity, user-friendliness, and
accessibility– Hardware has a working pneumatic locking
mechanism amenable to operating room• System is close to hoped accuracy
– Errors attributed to manufacturing• Prototype is approved by consulted surgeons• Product is much less expensive than the current
standard
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We would like to thank:• Dr. Scott Banks• Dr. Frank Bova• Dr. Didier Rajon• UF Dept. of
Neurosurgery
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Irene Freire, CSE Samantha Shuhala, ME Emily Churchwell, BME Celeste Rousseau, BE Medhut Alnadi, BME Matthew Thrush, ME
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