“…In recent years, some initial studies about accurate medicine attract people's attention, many technology were used to improve the accuracy of pedicle screw insertion, such as computer-based navigation and robotic-assisted guidance systems [20][21][22][23][24] , pedicle screw entry point [25][26][27] , TPA of lumbar 17,18,28 , both scan-and-plan registration and CT-to-uoroscopy registration methods is similar uoroscopy time exposure 29 . Still, recent reviews demonstrate that these instrument are no better than freehand technologies, but also substantially increase the costs and operation time 12,30,31 .…”