Development and evaluation of robot-assisted ultrasound navigation system for pedicle screw placement: An ex-vivo animal validation

IF 2.3 3区医学 Q2 SURGERY International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2023-10-24 DOI:10.1002/rcs.2590

Ruixuan Li, Ayoob Davoodi, Yuyu Cai, Gianni Borghesan, Nicola Cavalcanti, Christoph J. Laux, Mazda Farshad, Fabio Carrillo, Philipp Fürnstahl, Emmanuel Vander Poorten

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Abstract

Purpose

Spinal instrumentation with pedicle screw placement (PSP) is an important surgical technique for spinal diseases. Accurate screw trajectory is a prerequisite for PSP. Ultrasound (US) imaging with robot-assisted system forms a non-radiative alternative to provide precise screw trajectory. This study reports on the development and assessment of US navigation for this application.

Methods

A robot-assisted US reconstruction was proposed and an automatic CT-to-US registration algorithm was investigated, allowing the registration of screw trajectories. Experiments were conducted on ex-vivo lamb spines to evaluate system performance.

Results

In total, 72 screw trajectories are measured, displaying an average position accuracy of 2.80 ± 1.14 mm and orientation accuracy of 1.38 ± 0.61°.

Conclusion

The experimental results demonstrate the feasibility of proposed US system. This work, although restricted to laboratory settings, encourages further exploration of the potential of this technology in clinical practice.

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机器人辅助超声导航系统用于椎弓根螺钉置入的发展和评估:离体动物验证。

目的：椎弓根螺钉置入式脊柱内固定器（PSP）是治疗脊柱疾病的重要手术技术。精确的螺杆轨迹是PSP的先决条件。机器人辅助系统的超声（US）成像形成了一种非辐射替代方案，以提供精确的螺钉轨迹。本研究报告了用于该应用的美国导航的发展和评估。方法：提出了一种机器人辅助US重建方法，并研究了一种自动CT到US配准算法，该算法可以配准螺钉轨迹。实验在离体羔羊棘上进行，以评估系统性能。结果：总共测量了72个螺钉轨迹，平均位置精度为2.80±1.14mm，定向精度为1.38±0.61°。结论：实验结果证明了所提出的US系统的可行性。这项工作虽然仅限于实验室环境，但鼓励进一步探索这项技术在临床实践中的潜力。

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来源期刊

International Journal of Medical Robotics and Computer Assisted Surgery 医学-外科

CiteScore

4.50

自引率

12.00%

发文量

131

审稿时长

6-12 weeks

期刊介绍： The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.