Details
| Original language | English |
|---|---|
| Pages (from-to) | 205-207 |
| Number of pages | 3 |
| Journal | International journal of computer assisted radiology and surgery |
| Volume | 1 |
| Issue number | SUPPL. 7 |
| Publication status | Published - Jun 2006 |
| Externally published | Yes |
Abstract
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.
Keywords
- Hands on robotics, Intraoperative navigation, Machining force, Pedicle screw placement, Pose error, Robotic surgery, Soft robotics, Spine surgery
ASJC Scopus subject areas
- Medicine(all)
- Surgery
- Engineering(all)
- Biomedical Engineering
- Medicine(all)
- Radiology Nuclear Medicine and imaging
- Computer Science(all)
- Computer Vision and Pattern Recognition
- Medicine(all)
- Health Informatics
- Computer Science(all)
- Computer Science Applications
- Computer Science(all)
- Computer Graphics and Computer-Aided Design
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In: International journal of computer assisted radiology and surgery, Vol. 1, No. SUPPL. 7, 06.2006, p. 205-207.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - A soft robotics approach for navigated pedicle screw placement
T2 - First experimental results
AU - Ortmaier, T.
AU - Weiss, H.
AU - Ott, C.
AU - Hirzinger, G.
AU - Schreiber, U.
PY - 2006/6
Y1 - 2006/6
N2 - 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.
AB - 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.
KW - Hands on robotics
KW - Intraoperative navigation
KW - Machining force
KW - Pedicle screw placement
KW - Pose error
KW - Robotic surgery
KW - Soft robotics
KW - Spine surgery
UR - http://www.scopus.com/inward/record.url?scp=33748971182&partnerID=8YFLogxK
M3 - Article
AN - SCOPUS:33748971182
VL - 1
SP - 205
EP - 207
JO - International journal of computer assisted radiology and surgery
JF - International journal of computer assisted radiology and surgery
SN - 1861-6410
IS - SUPPL. 7
ER -