Development of SPINEBOT for spine surgery

Chung, Goo Bong; Lee, S.G.; Oh, Sang-Jin; Yi, Byung Ju; Kim, W.K.; Kim, Y.S.; Park, J.I.; Oh, Seong Hoon

doi:10.1109/iros.2004.1390030

Cited by 23 publications

(13 citation statements)

References 13 publications

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“…Accurate screw insertion thus requires a smaller opening of the back [2,26]. We also tested variations of the procedure such as changing the entry point or the transverse angle of pedicle screws [9,16,17].…”

Section: Problemsmentioning

confidence: 99%

“…Advances in surgical technology may reduce operation time, shorten recovery and interim pain, and by improving positional accuracy of tools, lead to better outcomes. Of the various methods proposed for spinal fusion [1][2][3][4][5][6][7][8][9][10][11], very few integrate the elements of computer-aided surgery (CAS) into a practical system [5,6]. These elements may include robots, image-based surgical planning methodology, and navigation tools to guide the robot.…”

Section: Introductionmentioning

confidence: 99%

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Cadaver study for spinal fusion surgery using an image-guided surgical robot system

Chung

Kim

2010

Int. J. Control Autom. Syst.

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We present a novel surgical robotic system for spinal fusion that includes a computer-based planning algorithm, O-type bi-planar fluoroscopy, and a surgical robot. The planning system determines a surgical path based on fluoroscopy images or a 3D image reconstructed using pre-operative CT data. The robot guides the surgical path that the surgeon generates with the planning system. In this cadaver study, we tested the performance of the robotic system in the treatment of eight lumbar vertebrae by comparing CT images recorded before and after surgery.

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Section: Problemsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Cadaver study for spinal fusion surgery using an image-guided surgical robot system

Chung

Kim

2010

Int. J. Control Autom. Syst.

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“…Thus, the real operation space is about 400 × 200 × 300 mm 3 , which is a narrow workspace for a moving robot. In this limited space, the traditional serial robot, such as Acorbot, AcuBot or SPINEBOT system [3][4][5], has difficulty completing such operations because of its large dimensions, the limited workspace and dexterity of the robot, the low stiffness of this kind of serial robot, and the accumulative errors of serial robots. The traditional parallel robot, such as the Stewart platform, also has difficulty implementing the minimally invasive operation in limited space because of the low dexterity or maneuverability, with which is difficult to meet the demand of puncturing route planning in CT-guided minimally invasive surgery.…”

Section: Introductionmentioning

confidence: 99%

A Hybrid Robot System Guided by Computer Tomography for Percutaneous Lung Cancer Cryosurgery

2009

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Using the common serial robot or parallel robot it is difficult to implement computed tomography (CT) guided surgery in a limited workspace. A novel hybrid robot with 9 d.o.f. is presented, the detailed structures of which are analyzed based on screw theory and the displacement manifold. The dexterity of the hybrid robot is provided in terms of the Riemann manifold. The structure of the control system is described. DICOM image processing, spatial registration and three-dimensional dynamic reconstruction in the operation planning subsystem are analyzed, using some new methods that are explained. The architecture of the CT-guided robot system and its subsystems is put forward. Simulative clinical experimentation shows that the locating precision of the hybrid robot is 1.08 mm, which can meet the requirements of clinical cryosurgery.

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“…However, due to relatively large incision, the patient's recovery time is longer than that of the MIS system. Chung et al also developed a serial-type manipulator (SPINEBOT) for the same purpose [8] [9]. Since it supports MIS scheme, the trauma and recovery time to the patient could be reduced.…”

Section: Introductionmentioning

confidence: 99%

Human-guided surgical robot system for spinal fusion surgery: CoRASS

Lee

Kim

Chung

et al. 2008

2008 IEEE International Conference on Robotics and Automation

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There are two main limitations in the conventional robot-assisted spinal fusion surgery. Since the end effector in the state of art has a role of guiding the insertion pose of a screw only, i) convenience that can be obtained when the robot intervenes in the surgery more actively could be limited. ii) The insertion pose of a screw provided by the robots could be deteriorated by surgeon's resisting force since he should insert a screw with his own hand withstanding the large reaction force transmitted through the drilling handle. To overcome those limitations, this paper proposes a novel approach for spinal fusion, wherein the robot performs the spinal fusion using the equipped end effector following surgeon's guide. We developed a dexterous small-sized the end effector that can perform previous gimleting and screwing tasks into the vertebrae. A five-DOF robot body that has kinematically-closed structure guides the insertion pose of a screw and resists strong reaction force firmly during the screwing process. Based on admittance control framework, the surgeon controls the pose of the end effector precisely to compensate induced static/dynamic errors during the operation. A torque feedback method without torque sensor that suggests the haptic information about the status of drilling is also included. The performance of the CoRASS was verified by experiments.

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Development of SPINEBOT for spine surgery

Cited by 23 publications

References 13 publications

Cadaver study for spinal fusion surgery using an image-guided surgical robot system

Cadaver study for spinal fusion surgery using an image-guided surgical robot system

A Hybrid Robot System Guided by Computer Tomography for Percutaneous Lung Cancer Cryosurgery

Human-guided surgical robot system for spinal fusion surgery: CoRASS

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