A soft robotics approach for navigated pedicle screw placement: first experimental results

被引：0

作者：

Ortmaier, T. ^{[1
]}

Weiss, H. ^{[1
]}

Ott, C. ^{[1
]}

Hirzinger, G. ^{[1
]}

Schreiber, U. ^{[2
]}

机构：

[1] German Aerosp Ctr, Inst Robot & Mechatron, Wessling, Germany

[2] Univ Hosp Rechts Isar, Clin Orthoped & Traumatol, Dept Biomech, Munich, Germany

来源：

INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY | 2006年 / 1卷

关键词：

Soft robotics; Hands on robotics; Robotic surgery; Spine surgery; Pedicle screw placement; Intraoperative navigation; Machining force; Pose error;

D O I：

暂无

中图分类号：

R318 [生物医学工程];

学科分类号：

0831 ;

摘要：

In this article experimental results for robot assisted navigated drilling and milling for pedicle screw placement are presented First, the clinical motivation is given. Thereafter, the experimental set-up is described which consists of a navigation system and an impedance controlled light-weight robot holding the propulsion unit of the surgical instrument. The navigation system is used to position the surgical instrument as well as to compensate for pose errors during machining. Holes are drilled in artificial bone to obtain similar experimental conditions as well as in bovine spine. The interaction forces and pose errors are discussed with respect to the chosen machining technology. It is shown that milling is superior to drilling.

引用

页码：205 / 207

页数：3

共 6 条

[1] ACCURACY OF PEDICULAR SCREW PLACEMENT INVIVO [J].

GERTZBEIN, SD ;

ROBBINS, SE .

SPINE, 1990, 15 (01) :11-14

[2]

Hirzinger G, 2001, IEEE INT CONF ROBOT, P3356, DOI 10.1109/ROBOT.2001.933136

[3]

JAKOPEC M, 2002, MED IM COMP COMP ASS

[4]

Ortmaier T, 2006, IEEE INT C ROB AUT I

[5] LOCATION OF TRANSPEDICULAR SCREWS FOR FIXATION OF THE LOWER THORACIC AND LUMBAR SPINE - COMPUTED-TOMOGRAPHY OF 45 FRACTURE CASES [J].

SIM, E .

ACTA ORTHOPAEDICA SCANDINAVICA, 1993, 64 (01) :28-32

[6] PLACEMENT OF PEDICLE SCREWS IN THE THORACIC SPINE .2. AN ANATOMICAL AND RADIOGRAPHIC ASSESSMENT [J].

VACCARO, AR ;

RIZZOLO, SJ ;

BALDERSTON, RA ;

ALLARDYCE, TJ ;

GARFIN, SR ;

DOLINSKAS, C ;

AN, HS .

JOURNAL OF BONE AND JOINT SURGERY-AMERICAN VOLUME, 1995, 77A (08) :1200-1206

← 1 →