A body-mounted surgical assistance robot for minimally invasive spinal puncture surgery

Abstract

Robotic surgical assistant systems can transcend the precision of surgical procedure by integrating the position information of patient and robot in the surgical room. There are two conventional integration methods, the real-time position tracking and physically fixing. In clinical cases, the former has the problem of increasing radiation exposure; so physical fixation is more commonly used in robotic surgery. However, the conventional fixing methods are also not optimized and problems of invasiveness and rigidness of fixation are left unsolved.This paper deals with a body-mounted surgical assistance robotic system for percutaneous vertebroplasty. The robot is fixed on the human body surface by fixing device that utilizes jamming transition phenomenon and vacuum cup. The bodymounted robot system sets up the correct pathway for needle insertion. The system was fixed on human shape target with a 166±8 N suction force. The fixing rigidity of our system and accuracy of the needle guide control device has been evaluated by measuring the displacement during needle inserting operation. The displacement of the fixing device by the external force of needle inserting operation was 0.06 mm and 0.02 • in RMS. The total displacement of needle guide was 1.66 mm and 1.24 • in RMS. The total positioning error of the needle guide control device was 0.09 mm and 0.97 • in RMS.

Fixing Device for a Planar Object by Incorporating Jamming Transition Phenomenon and a Suction Unit

“…When the proposed device was affixed to a flat plate, the sucking force was 172±6-N; whereas, when it was affixed to a human-shaped phantom (Figure 11), the suction force was 166 ± 8-N. The amount of time required to finish holding was 1.6 seconds on average [11]. Next, we evaluated the relationship between the stiffness of our device and the scale of the grains.…”

“…In this study, we analyzed the stationary condition of jammed grains and proposed an effective shape of grains to achieve a highly rigid solid state of the fixing device that uses the jamming transition phenomenon. We have demonstrated possibility of this type of novel fixing device before [11]. In previous work, we combined the fixing device with the surgical assistance robot for spine puncture surgery.…”

A Robot-Assisted Spine Surgery System Based on Intraoperative 2D Fluoroscopy Navigation

“…A Hands-on-Robot [28] was proposed for pedicle screws insertion with fully torque controlled robot. A robot spine surgery system with a teleoperation system [29] and a body-mounted robot system [30] were presented respectively. However, most of the systems mentioned above are in experimental stage, and a few are only in theoretical stage.…”

Irreversible electroporation: maximizing treatment efficacy through optimization strategies and robotic assitance

“…By incorporating a softer material for the bottom part of the robot, it can better adapt to the patient's body contours. Additionally, using a suction mechanism to fix the robot in place could provide a more stable and secure attachment [180], minimizing movement during the procedure and maintaining registration and accuracy.…”