Design and control of an image-guided robot for spine surgery in a hybrid OR.

摘要: Background Minimally invasive spine (MIS) fusion surgery requires image guidance and expert manual dexterity for a successful, efficient, accurate pedicle screw placement. Operating room (OR)-integrated robotic solution can provide precise assistance to potentially minimize complication rates facilitate difficult MIS procedures. Methods A 5-degrees of freedom robot was designed specifically hybrid OR with integrated surgical navigation guiding pilot holes. The system automatically aligns an instrument following the plan using only tracking feedback. Contrary commercially available systems, no markers on arm are required. evaluated in cadaver study. Results mean targeting error (N = 34) 1.27±0.57 mm 1.62±0.85°, 100% insertions graded as clinically acceptable. Conclusions fully system, including intra-op imaging, planning, physical optimized design control, improve workflow less than 2 error.