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학술저널
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제어로봇시스템학회 International Journal of Control, Automation, and Systems International Journal of Control, Automation, and Systems 제4권 제1호
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30 - 41 (12page)

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초록· 키워드

The goal of this work is to develop and test a robot-assisted surgery system for spinal fusion. The system is composed of a robot, a surgical planning system, and a navigation system. It plays the role of assisting surgeons for inserting a pedicle screw in the spinal fusion procedure. Compared to conventional methods for spinal fusion, the proposed surgical procedure ensures minimum invasion and better accuracy by using robot and image information. The robot plays the role of positioning and guiding needles, drills, and other surgical instruments or conducts automatic boring and screwing. Pre-operative CT images intra-operative fluoroscopic images are integrated to provide the surgeon with information for surgical planning. Some experiments employing the developed robotic surgery system are conducted. The experimental results confirm that the system is not only able to guide the surgical tools by accurately pointing and orienting the specified location, but also successfully compensate the movement of the patient due to respiration.
#Image-guided surgery #robot-assisted surgery system #spinal fusion #surgical robot
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목차

  1. Abstract
  2. 1. INTRODUCTION
  3. 2. REVIEW OF SPINAL FUSION
  4. 3. AN IMAGE-GUIDED ROBOTIC SYSTEM FOR SPINAL FUSION
  5. 4. PRELIMINARY EXPERIMENTS
  6. 5. EXPERIMENTS
  7. 6. CONCLUSIONS
  8. REFERENCES

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UCI(KEPA) : I410-ECN-0101-2013-569-003309041