Workspace Analysis of Robotically Assisted Percutaneous Radiofrequency Thermocoagulation for the Trigeminal Neuralgia

Trigeminal neuralgia is a sharp and paroxysmal pain that spreads to one or more branches of the trigeminal nerve and most commonly affects one side of the face. Trigeminal neuralgia can be treated by percutaneous thermoablation (radiofrequency thermocoagulation), the success of which depends on the experience of the surgeon. Percutaneous thermoablation requires high accuracy while targeting the trigeminal nerve in the foramen ovale, which is located at the base of the skull, and whose dimensions average 4x6 mm. This paper presents an initial overview on the possibilities of the application of different off-the-shelf robots in the operative procedure for treating trigeminal neuralgia. The paper simulates the reachability and applicability of the Kuka KR6 Agilus R900, KR6 Agilus R1100 and the KUKA IIWA R820 robots with 6 and 7 degrees of freedom. The operating procedure is simulated in a virtual operating room and all critical positions are validated. Possibilities of positioning the robots with respect to the patient and the recommendations for designing tool guides for performing the percutaneous thermoablation for trigeminal neuralgia are given.