• Abhishek Kaushik, T A Dwarakanath, Gaurav Bhutani, and Dwarakanath Srinivas.
• Department of Engineering Sciences, Homi Bhabha National Institute, Mumbai, India. Electronic address: kaushik.or.abhishek@gmail.com.
• World Neurosurg. 2020 Feb 1; 134: e256-e271.

BackgroundTo conduct an autonomous robot-based neurosurgical procedure in the least time with high accuracy. Further, to analyze and validate the method.MethodsThe coordinates of the markers and the region of interest in the medical image space are measured. Subsequently, in the real patient space, a set of algorithms plans the robot motion. The surgical robot attached with a camera autonomously navigates toward the fiducial markers to measure the coordinates and conduct the neuroregistration. The robot also facilitates the precise constrained guiding path to navigate the surgical tool to reach the region of interest (target) selected in the image.ResultsThe phantom was registered within 1 mm accuracy in all cases for all poses. High-precision navigation to the target in all poses was shown.ConclusionsThe robot is successful in conducting hands-off neuroregistration and neuronavigation. The accuracy is considerably higher, and the time taken is lesser relative to the manual procedure.Copyright © 2019 Elsevier Inc. All rights reserved.

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