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

Abstract

In this paper, a robotic system based on intraoperative 2D fluoroscopy navigation in which fluoroscopy images are obtained by C-arm popularized in the clinic, for spine surgery is proposed. The procedure of robot-assisted spine surgery is designed and described. An improved special 6-dof hybrid robot considering both the stiffness and workspace is proposed. And the kinematic model and jacobian matrix of robot are established. To realize fluroscopy images acquisition and avoid interfering with the patient during the process of positioning, human-robot cooperation based on fuzzy variable admittance control considering arm stiffness which would influence the stability of robot, is applied in robotic system. In addition, navigation techniques containing a novel bi-planar design, a robust circular control point detector and closed-loop positioning of tool, based on fluoroscopy images are proposed. In experiments, kinematic model of hybrid robot is test based on laser tracker and the distance error is 0.17 mm which is much smaller than the motion range. The effect of tool weight compensation is measured and the max mean force and torque errors are 0.7477N and 0.0617 N.M. The experimental results could meet requirements in human-robot cooperation. Furthermore, we test the the robotic system proposed in this paper on spine model bone and cadaver with the help of surgeons. The experimental results are validated by 2D image c-arm-based and 3D image CT-based and considered clinically acceptable. INDEX TERMS Robot-assisted spine surgery system, 6-dof hybrid robot, intraoperative 2D fluoroscopy navigation, spine model bone and cadaver experiments.

Research on Accuracy of Augmented Reality Surgical Navigation System Based on Multi-View Virtual and Real Registration Technology

“…However, from the perspective of the cost of the whole ARSN system, the cost of our proposed ARSN system is lower. In 2020, Li et al proposed a robot system based on intraoperative 2D navigation, which acquired perspective images through the widely used C-arm in clinical practice [53]. The accuracy of robot-assisted spinal puncture is eventually achieved with an error of 0.17mm.…”

A New Workflow for Image-Guided Intraoperative Electron Radiotherapy Using Projection-Based Pose Tracking

“…Distortion correction would be required if a non-flat panel C-arm is used. In that case, the distortion parameters are pre-calculated in a previous and independent calibration step, as proposed in [17] using a calibration phantom, and integrated into the proposed workflow as a preprocessing distortion correction step is applied to the C-arm projections. The rest of the workflow remains the same.…”

“…However, 3D CT or fluoroscopy systems are rarely available in surgery rooms and imply longer procedures and higher radiation exposure. Meanwhile the 2D projection C-arm system [17] is typically available and used as intraoperative data. Current research on image-guided surgery uses intraoperative 2D projections for planning, guidance and verification because they provide an accurate depiction of the internal structures, anatomical deformation, and resection within the region of interest, as well as the required instrumentation during the procedure [18][19][20].…”

A multiple closed‐loops robotic calibration for accurate surgical puncture

“…However, the surgical tool mounted on the robotic end is necessary to be replaced during the operation, thus the calibration result may lose efficacy if the camera is fixed on the robotic end 12 . Additionally, in order to detect larger field‐of‐view (FoV) for real‐time positioning of surgical tool and patient, the RPS should adopt the ETH pattern 13 …”

“…12 Additionally, in order to detect larger field-of-view (FoV) for real-time positioning of surgical tool and patient, the RPS should adopt the ETH pattern. 13 Recent literature presents research related to the hand-eye calibration for vision-based robotic system. As for the ETH, the task of hand-eye calibration is to identify the positional and orientational transformation relationship between camera and robotic base.…”