Robotic Stereotaxic System based on 3D skull reconstruction to improve surgical accuracy and speed

Abstract

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. 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 based on structured illumination and geometrical triangulation. Using the reconstructed 3D profile, the skull can repositioned using a 6DOF robotic platform to accurately align a surgical tool. The system was evaluated using mechanical measurement techniques, and the accuracy of the platform was demonstrated using brain phantoms. Additionally, small and deep brain nuclei were targeted in rodents for additional testing. The results indicate that this new stereotaxic system can improve the accuracy and speed of small-animal brain surgeries and reduce the failure rate of experiments.