Robotic stereotaxic system based on 3D skull reconstruction to improve surgical accuracy and speed
Ly,Phuong T.1; Lucas,Alexandra2; Pun,Sio Hang3; Dondzillo,Anna2; Liu,Chao1; Klug,Achim2; Lei,Tim C.1,3
Source PublicationJournal of Neuroscience Methods
AbstractBackground: Some experimental approaches in neuroscience research require the precise placement of a recording electrode, pipette or other tool into a specific brain area that can be quite small and/or located deep beneath the surface. This process is typically aided with stereotaxic methods but remains challenging due to a lack of advanced technology to aid the experimenter. Currently, procedures require a significant amount of skill, have a high failure rate, and take up a significant amount of time. New method: We developed a next generation robotic stereotaxic platform for small rodents by combining a three-dimensional (3D) skull profiler sub-system and a full six degree-of-freedom (6DOF) robotic platform. The 3D skull profiler is based on structured illumination in which a series of horizontal and vertical line patterns are projected onto an animal skull. These patterns are captured by two two-dimensional (2D) CCD cameras which reconstruct an accurate 3D skull surface profile based on structured illumination and geometrical triangulation. Using the reconstructed 3D profile, the skull can be repositioned using a 6DOF robotic platform to accurately align a surgical tool. Results: The system was evaluated using mechanical measurement techniques, and the accuracy of the platform was demonstrated using agar brain phantoms and animal skulls. Additionally, a small and deep brain nucleus (the medial nucleus of the trapezoid body) were targeted in rodents to confirm the targeting accuracy. Conclusions: The new stereotaxic system can accomplish “skull-flat” rapidly and precisely and with minimal user intervention, and thus reduces the failure rate of such experiments.
Keyword3D surface scanning Neural dye injection Optogenetics Robotic surgeries Stereotaxics
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Document TypeJournal article
CollectionUniversity of Macau
Corresponding AuthorLei,Tim C.
Affiliation1.The Department of Electrical Engineering,University of Colorado,Denver,80204,United States
2.The Department of Physiology and Biophysics,University of Colorado,Anschutz Medical Campus,80045,United States
3.State Key Laboratory of Analog and Mixed-Signal VLSI,Institute of Microelectronics,University of Macau,Macau,China
Corresponding Author AffilicationUniversity of Macau
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GB/T 7714
Ly,Phuong T.,Lucas,Alexandra,Pun,Sio Hang,et al. Robotic stereotaxic system based on 3D skull reconstruction to improve surgical accuracy and speed[J]. Journal of Neuroscience Methods,2021,347.
APA Ly,Phuong T.,Lucas,Alexandra,Pun,Sio Hang,Dondzillo,Anna,Liu,Chao,Klug,Achim,&Lei,Tim C..(2021).Robotic stereotaxic system based on 3D skull reconstruction to improve surgical accuracy and speed.Journal of Neuroscience Methods,347.
MLA Ly,Phuong T.,et al."Robotic stereotaxic system based on 3D skull reconstruction to improve surgical accuracy and speed".Journal of Neuroscience Methods 347(2021).
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