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.
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- 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.
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DOI: 10.1002/rcs.114
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ISTEX:971C0766B2AD15D8228558598B90CD29E6E4D1CDLe document en format XML
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Ortmaier</name><affiliation><mods:affiliation>German Aerospace Centre (DLR e.V.), Institute of Robotics and Mechatronics, 82234 Wessling, Germany</mods:affiliation></affiliation><affiliation><mods:affiliation>KUKA Roboter GmbH, Zugspitzstrasse 140, 86165 Augsburg, Germany</mods:affiliation></affiliation></author><author><name sortKey="Weiss, H" sort="Weiss, H" uniqKey="Weiss H" first="H." last="Weiss">H. Weiss</name><affiliation><mods:affiliation>German Aerospace Centre (DLR e.V.), Institute of Robotics and Mechatronics, 82234 Wessling, Germany</mods:affiliation></affiliation></author><author><name sortKey="Dobele, S" sort="Dobele, S" uniqKey="Dobele S" first="S." last="Döbele">S. Döbele</name><affiliation><mods:affiliation>Department of Biomechanics, Clinic of Orthopedics and Traumatology, University Hospital Rechts der Isar, Germany</mods:affiliation></affiliation></author><author><name sortKey="Schreiber, U" sort="Schreiber, U" uniqKey="Schreiber U" first="U." last="Schreiber">U. 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Surg.</title><idno type="ISSN">1478-5951</idno><idno type="eISSN">1478-596X</idno><imprint><publisher>John Wiley & Sons, Ltd.</publisher><pubPlace>Chichester, UK</pubPlace><date type="published" when="2006-12">2006-12</date><biblScope unit="volume">2</biblScope><biblScope unit="issue">4</biblScope><biblScope unit="page" from="350">350</biblScope><biblScope unit="page" to="363">363</biblScope></imprint><idno type="ISSN">1478-5951</idno></series><idno type="istex">971C0766B2AD15D8228558598B90CD29E6E4D1CD</idno><idno type="DOI">10.1002/rcs.114</idno><idno type="ArticleID">RCS114</idno></biblStruct></sourceDesc><seriesStmt><idno type="ISSN">1478-5951</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>haptic interaction</term><term>intraoperative navigation</term><term>pedicle screw placement</term><term>robotic surgery</term><term>shared autonomy</term><term>soft robotics</term></keywords></textClass><langUsage><language ident="en">en</language></langUsage></profileDesc></teiHeader><front><div type="abstract" xml: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.</div></front></TEI><istex><corpusName>wiley</corpusName><author><json:item><name>T. Ortmaier</name><affiliations><json:string>German Aerospace Centre (DLR e.V.), Institute of Robotics and Mechatronics, 82234 Wessling, Germany</json:string><json:string>KUKA Roboter GmbH, Zugspitzstrasse 140, 86165 Augsburg, Germany</json:string></affiliations></json:item><json:item><name>H. Weiss</name><affiliations><json:string>German Aerospace Centre (DLR e.V.), Institute of Robotics and Mechatronics, 82234 Wessling, Germany</json:string></affiliations></json:item><json:item><name>S. Döbele</name><affiliations><json:string>Department of Biomechanics, Clinic of Orthopedics and Traumatology, University Hospital Rechts der Isar, Germany</json:string></affiliations></json:item><json:item><name>U. Schreiber</name><affiliations><json:string>Department of Biomechanics, Clinic of Orthopedics and Traumatology, University Hospital Rechts der Isar, Germany</json:string></affiliations></json:item></author><subject><json:item><lang><json:string>eng</json:string></lang><value>robotic surgery</value></json:item><json:item><lang><json:string>eng</json:string></lang><value>pedicle screw placement</value></json:item><json:item><lang><json:string>eng</json:string></lang><value>intraoperative navigation</value></json:item><json:item><lang><json:string>eng</json:string></lang><value>soft robotics</value></json:item><json:item><lang><json:string>eng</json:string></lang><value>haptic interaction</value></json:item><json:item><lang><json:string>eng</json:string></lang><value>shared autonomy</value></json:item></subject><articleId><json:string>RCS114</json:string></articleId><language><json:string>eng</json:string></language><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. 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J. Med. Robotics Comput. Assist. Surg.</title><idno type="pISSN">1478-5951</idno><idno type="eISSN">1478-596X</idno><idno type="DOI">10.1002/(ISSN)1478-596X</idno><imprint><publisher>John Wiley & Sons, Ltd.</publisher><pubPlace>Chichester, UK</pubPlace><date type="published" when="2006-12"></date><biblScope unit="volume">2</biblScope><biblScope unit="issue">4</biblScope><biblScope unit="page" from="350">350</biblScope><biblScope unit="page" to="363">363</biblScope></imprint></monogr><idno type="istex">971C0766B2AD15D8228558598B90CD29E6E4D1CD</idno><idno type="DOI">10.1002/rcs.114</idno><idno type="ArticleID">RCS114</idno></biblStruct></sourceDesc></fileDesc><profileDesc><creation><date>2006</date></creation><langUsage><language ident="en">en</language></langUsage><abstract xml:lang="en"><p>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.</p></abstract><textClass xml:lang="en"><keywords scheme="keyword"><list><head>keywords</head><item><term>robotic surgery</term></item><item><term>pedicle screw placement</term></item><item><term>intraoperative navigation</term></item><item><term>soft robotics</term></item><item><term>haptic interaction</term></item><item><term>shared autonomy</term></item></list></keywords></textClass><textClass><keywords scheme="Journal Subject"><list><head>article-category</head><item><term>Research Article</term></item></list></keywords></textClass></profileDesc><revisionDesc><change when="2006-10-10">Received</change><change when="2006-12">Published</change></revisionDesc></teiHeader></istex:fulltextTEI><json:item><original>false</original><mimetype>text/plain</mimetype><extension>txt</extension><uri>https://api.istex.fr/document/971C0766B2AD15D8228558598B90CD29E6E4D1CD/fulltext/txt</uri></json:item></fulltext><metadata><istex:metadataXml wicri:clean="Wiley, elements deleted: body"><istex:xmlDeclaration>version="1.0" encoding="UTF-8" standalone="yes"</istex:xmlDeclaration><istex:document><component version="2.0" type="serialArticle" xml:lang="en"><header><publicationMeta level="product"><publisherInfo><publisherName>John Wiley & Sons, Ltd.</publisherName><publisherLoc>Chichester, UK</publisherLoc></publisherInfo><doi registered="yes">10.1002/(ISSN)1478-596X</doi><issn type="print">1478-5951</issn><issn type="electronic">1478-596X</issn><idGroup><id type="product" value="RCS"></id></idGroup><titleGroup><title type="main" xml:lang="en" sort="INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY">The International Journal of Medical Robotics and Computer Assisted Surgery</title><title type="short">Int. 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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.</p></section><section xml:id="abs1-2"><title type="main">Methods</title><p>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.</p></section><section xml:id="abs1-3"><title type="main">Results</title><p>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.</p></section><section xml:id="abs1-4"><title type="main">Conclusions</title><p>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.</p></section></abstract></abstractGroup></contentMeta><noteGroup><note xml:id="fn1"><p>No conflict of interest was declared.</p></note></noteGroup></header></component></istex:document></istex:metadataXml><mods version="3.6"><titleInfo lang="en"><title>Experiments on robot‐assisted navigated drilling and milling of bones for pedicle screw placement</title></titleInfo><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></name><typeOfResource>text</typeOfResource><genre type="article" displayLabel="article"></genre><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></originInfo><language><languageTerm type="code" authority="rfc3066">en</languageTerm><languageTerm type="code" authority="iso639-2b">eng</languageTerm></language><physicalDescription><internetMediaType>text/html</internetMediaType><extent unit="figures">18</extent><extent unit="tables">3</extent><extent unit="references">19</extent></physicalDescription><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></recordInfo></mods></metadata><serie></serie></istex></record>Pour manipuler ce document sous Unix (Dilib)
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