Experiments on robot‐assisted navigated drilling and milling of bones for pedicle screw placement
Identifieur interne : 001D97 ( Istex/Corpus ); précédent : 001D96; suivant : 001D98Experiments on robot‐assisted navigated drilling and milling of bones for pedicle screw placement
Auteurs : T. Ortmaier ; H. Weiss ; S. Döbele ; U. SchreiberSource :
- The International Journal of Medical Robotics and Computer Assisted Surgery [ 1478-5951 ] ; 2006-12.
English descriptors
- KwdEn :
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. Copyright © 2006 John Wiley & Sons, Ltd.
Url:
DOI: 10.1002/rcs.114
Links to Exploration step
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<mods version="3.6"><titleInfo lang="en"><title>Experiments on robot‐assisted navigated drilling and milling of bones for pedicle screw placement</title>
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<titleInfo type="abbreviated" lang="en"><title>Navigated drilling and milling of bones for pedicle screw placement</title>
</titleInfo>
<titleInfo type="alternative" contentType="CDATA" lang="en"><title>Experiments on robot‐assisted navigated drilling and milling of bones for pedicle screw placement</title>
</titleInfo>
<name type="personal"><namePart type="given">T.</namePart>
<namePart type="family">Ortmaier</namePart>
<affiliation>German Aerospace Centre (DLR e.V.), Institute of Robotics and Mechatronics, 82234 Wessling, Germany</affiliation>
<affiliation>KUKA Roboter GmbH, Zugspitzstrasse 140, 86165 Augsburg, Germany</affiliation>
<description>Correspondence: German Aerospace Centre (DLR e.V.), Institute of Robotics and Mechatronics, 82234 Wessling, Germany.===</description>
<role><roleTerm type="text">author</roleTerm>
</role>
</name>
<name type="personal"><namePart type="given">H.</namePart>
<namePart type="family">Weiss</namePart>
<affiliation>German Aerospace Centre (DLR e.V.), Institute of Robotics and Mechatronics, 82234 Wessling, Germany</affiliation>
<role><roleTerm type="text">author</roleTerm>
</role>
</name>
<name type="personal"><namePart type="given">S.</namePart>
<namePart type="family">Döbele</namePart>
<affiliation>Department of Biomechanics, Clinic of Orthopedics and Traumatology, University Hospital Rechts der Isar, Germany</affiliation>
<role><roleTerm type="text">author</roleTerm>
</role>
</name>
<name type="personal"><namePart type="given">U.</namePart>
<namePart type="family">Schreiber</namePart>
<affiliation>Department of Biomechanics, Clinic of Orthopedics and Traumatology, University Hospital Rechts der Isar, Germany</affiliation>
<role><roleTerm type="text">author</roleTerm>
</role>
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<typeOfResource>text</typeOfResource>
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<originInfo><publisher>John Wiley & Sons, Ltd.</publisher>
<place><placeTerm type="text">Chichester, UK</placeTerm>
</place>
<dateIssued encoding="w3cdtf">2006-12</dateIssued>
<dateCaptured encoding="w3cdtf">2006-10-10</dateCaptured>
<copyrightDate encoding="w3cdtf">2006</copyrightDate>
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<language><languageTerm type="code" authority="rfc3066">en</languageTerm>
<languageTerm type="code" authority="iso639-2b">eng</languageTerm>
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<extent unit="figures">18</extent>
<extent unit="tables">3</extent>
<extent unit="references">19</extent>
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<abstract lang="en">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. Copyright © 2006 John Wiley & Sons, Ltd.</abstract>
<note type="content">*No conflict of interest was declared.</note>
<note type="funding">Synthes</note>
<note type="funding">BrainLAB</note>
<note type="funding">Bavarian Research Foundation, Germany</note>
<subject lang="en"><genre>keywords</genre>
<topic>robotic surgery</topic>
<topic>pedicle screw placement</topic>
<topic>intraoperative navigation</topic>
<topic>soft robotics</topic>
<topic>haptic interaction</topic>
<topic>shared autonomy</topic>
</subject>
<relatedItem type="host"><titleInfo><title>The International Journal of Medical Robotics and Computer Assisted Surgery</title>
</titleInfo>
<titleInfo type="abbreviated"><title>Int. J. Med. Robotics Comput. Assist. Surg.</title>
</titleInfo>
<genre type="journal">journal</genre>
<subject><genre>article-category</genre>
<topic>Research Article</topic>
</subject>
<identifier type="ISSN">1478-5951</identifier>
<identifier type="eISSN">1478-596X</identifier>
<identifier type="DOI">10.1002/(ISSN)1478-596X</identifier>
<identifier type="PublisherID">RCS</identifier>
<part><date>2006</date>
<detail type="volume"><caption>vol.</caption>
<number>2</number>
</detail>
<detail type="issue"><caption>no.</caption>
<number>4</number>
</detail>
<extent unit="pages"><start>350</start>
<end>363</end>
<total>14</total>
</extent>
</part>
</relatedItem>
<identifier type="istex">971C0766B2AD15D8228558598B90CD29E6E4D1CD</identifier>
<identifier type="DOI">10.1002/rcs.114</identifier>
<identifier type="ArticleID">RCS114</identifier>
<accessCondition type="use and reproduction" contentType="copyright">Copyright © 2006 John Wiley & Sons, Ltd.</accessCondition>
<recordInfo><recordContentSource>WILEY</recordContentSource>
<recordOrigin>John Wiley & Sons, Ltd.</recordOrigin>
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