"In Vivo Measurement of the Accuracy of the Neurolocate Module of the Neurosurgical Robot Neuromate in Its Application to Deep Brain Stimulation"

"On the day of surgery, under general anesthesia, a Fischer ZD frame will be attached to the skull. A T1-weighted 3D MRI with gadolinium will be performed.~Investigators will plan on this MRI, anatomical targets and deep brain trajectories using the NeuroInspire surgical planning software.~The patient will be attached to the base of the robot through the frame. Registration will be performed using the Neurolocate method after the acquisition of 3D CT images using the O-arm. The Neurolocate recording is based on radiographic images.The 3D MRI will be merged with the 3D tomography images taken with the O-arm to co-register the trajectories planned on the MRI in the robot space The surgical procedure will be performed as usual by milling the bone at the entry point and inserting under robotic guidance an electrode through a guide tube to the intended target."