Details
| Original language | English |
|---|---|
| Pages (from-to) | 350-363 |
| Number of pages | 14 |
| Journal | International Journal of Medical Robotics and Computer Assisted Surgery |
| Volume | 2 |
| Issue number | 4 |
| Publication status | Published - Dec 2006 |
| Externally published | Yes |
Abstract
Background: This article presents experimental results for robot-assisted navigated drilling and milling for pedicle screw placement. The preliminary study was carried out in order to gain first insights into positioning accuracies and machining forces during hands-on robotic spine surgery. Additionally, the results formed the basis for the development of a new robot for surgery. Methods: A simplified anatomical model is used to derive the accuracy requirements. The experimental set-up consists of a navigation system and an impedance-controlled light-weight robot holding the surgical instrument. The navigation system is used to position the surgical instrument and to compensate for pose errors during machining. Holes are drilled in artificial bone and bovine spine. A quantitative comparison of the drill-hole diameters was achieved using a computer. Results: The interaction forces and pose errors are discussedwith respect to the chosen machining technology and control parameters. Within the technological boundaries of the experimental set-up, it is shown that the accuracy requirements can be met and that milling is superior to drilling. Conclusions: It is expected that robot assisted navigated surgery helps to improve the reliability of surgical procedures. Further experiments are necessary to take the whole workflow into account.
Keywords
- Haptic interaction, Intraoperative navigation, Pedicle screw placement, Robotic surgery, Shared autonomy, Soft robotics
ASJC Scopus subject areas
- Medicine(all)
- Surgery
- Biochemistry, Genetics and Molecular Biology(all)
- Biophysics
- Computer Science(all)
- Computer Science Applications
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In: International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 2, No. 4, 12.2006, p. 350-363.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Experiments on robot-assisted navigated drilling and milling of bones for pedicle screw placement
AU - Ortmaier, T.
AU - Weiss, H.
AU - Döbele, S.
AU - Schreiber, U.
PY - 2006/12
Y1 - 2006/12
N2 - Background: This article presents experimental results for robot-assisted navigated drilling and milling for pedicle screw placement. The preliminary study was carried out in order to gain first insights into positioning accuracies and machining forces during hands-on robotic spine surgery. Additionally, the results formed the basis for the development of a new robot for surgery. Methods: A simplified anatomical model is used to derive the accuracy requirements. The experimental set-up consists of a navigation system and an impedance-controlled light-weight robot holding the surgical instrument. The navigation system is used to position the surgical instrument and to compensate for pose errors during machining. Holes are drilled in artificial bone and bovine spine. A quantitative comparison of the drill-hole diameters was achieved using a computer. Results: The interaction forces and pose errors are discussedwith respect to the chosen machining technology and control parameters. Within the technological boundaries of the experimental set-up, it is shown that the accuracy requirements can be met and that milling is superior to drilling. Conclusions: It is expected that robot assisted navigated surgery helps to improve the reliability of surgical procedures. Further experiments are necessary to take the whole workflow into account.
AB - Background: This article presents experimental results for robot-assisted navigated drilling and milling for pedicle screw placement. The preliminary study was carried out in order to gain first insights into positioning accuracies and machining forces during hands-on robotic spine surgery. Additionally, the results formed the basis for the development of a new robot for surgery. Methods: A simplified anatomical model is used to derive the accuracy requirements. The experimental set-up consists of a navigation system and an impedance-controlled light-weight robot holding the surgical instrument. The navigation system is used to position the surgical instrument and to compensate for pose errors during machining. Holes are drilled in artificial bone and bovine spine. A quantitative comparison of the drill-hole diameters was achieved using a computer. Results: The interaction forces and pose errors are discussedwith respect to the chosen machining technology and control parameters. Within the technological boundaries of the experimental set-up, it is shown that the accuracy requirements can be met and that milling is superior to drilling. Conclusions: It is expected that robot assisted navigated surgery helps to improve the reliability of surgical procedures. Further experiments are necessary to take the whole workflow into account.
KW - Haptic interaction
KW - Intraoperative navigation
KW - Pedicle screw placement
KW - Robotic surgery
KW - Shared autonomy
KW - Soft robotics
UR - http://www.scopus.com/inward/record.url?scp=33846274526&partnerID=8YFLogxK
U2 - 10.1002/rcs.114
DO - 10.1002/rcs.114
M3 - Article
C2 - 17520654
AN - SCOPUS:33846274526
VL - 2
SP - 350
EP - 363
JO - International Journal of Medical Robotics and Computer Assisted Surgery
JF - International Journal of Medical Robotics and Computer Assisted Surgery
SN - 1478-5951
IS - 4
ER -