Grinding trajectory generator in robot-assisted laminectomy surgery

Li, Qian; Du, Zhijiang

doi:10.1007/s11548-021-02316-1

Cited by 9 publications

(4 citation statements)

References 22 publications

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“…It holds promise for reducing operation time and radiation exposure, streamlining the process of percutaneous screw placement in pelvic trauma surgery. Similarly, Li et al [137] introduced algorithms for extracting vital information from CT images for automated grinding trajectory planning in robot-assisted laminectomies. This approach incorporates a DNN specifically designed for accurate lamina positioning, with a recognition accuracy of 95.7% and minimal positioning error of 1.12 mm.…”

Section: Ai Improves Surgical Planningmentioning

confidence: 99%

Evolution of Surgical Robot Systems Enhanced by Artificial Intelligence: A Review

Liu,

Wu,

Sang

et al. 2024

Advanced Intelligent Systems

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Surgical robot systems (SRS) represent an innovative cross‐disciplinary research field using robotic technology to assist surgeons in operations. Current bottlenecks in SRS, such as the limited ability to process complex information and make surgical decisions, have not been effectively solved. Artificial intelligence (AI) is a valuable technique for simulating and extending human intelligence. AI offers a new direction and impetus for SRS by enhancing performance in areas such as perception, navigation, surgical planning, and control strategies. This review introduces the developmental history of AI‐aided SRS, summarizes the basic SRS architecture, and analyzes how AI can improve SRS performance. Classical cases of AI‐aided SRS, the impact of evidence in clinical settings, and associated ethical and legal considerations are explored. Finally, the challenges in AI‐aided SRS are discussed, including algorithm development, surgical data science, human–robot coordination, and trust building between humans and robots.

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Section: Ai Improves Surgical Planningmentioning

confidence: 99%

Evolution of Surgical Robot Systems Enhanced by Artificial Intelligence: A Review

Liu,

Wu,

Sang

et al. 2024

Advanced Intelligent Systems

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“…Robotic arm-assisted drilling is one of trends in medical field. Robotic arms are used in many surgical applications, 2–5 demonstrating robotic drilling to improve intraoperative surgical quality. 6,7…”

Section: Instructionmentioning

confidence: 99%

Six degrees of freedom positioning compensation method of robotic arm-assisted medical bone drilling

Yu,

Wei,

Miao’an

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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The positioning accuracy of medical bone drilling has a great impact on the success rate of orthopedic surgery. Due to the need for high accuracy of medical bone drilling, with use of any 6-DoF-type robotic arm to assist in drilling, a novel six-degree-of-freedom compensation positioning algorithm of robotic arm-assisted medical bone drilling is proposed, in which only position but also orientation errors of robotic end are considered, increasing positioning capability of drilling instrument end effector with position and orientation correction for medical drilling motion accurate controlling. For the different position and orientation characteristics of the robot arm controlling and measurement point/zone, position and orientation transformation from measurement to controlling point/zone is established through position and angle calibration experiments, realizing position and orientation error measured by optical tracking system from measurement point/zone to controlling point/zone. Based on 6-DoF parameter and principle of robotic arm, a positioning compensation model based on the 6-DoF position and orientation errors of robotic arm end is proposed, and iteration cycle is used for higher accuracy, realizing double correction of position and orientation of robotic arm end. The accuracy verification experiments measured by the optical tracking system shows that the average position error before and after the 6-DoF compensation positioning algorithm reduces from 1.42 mm (before compensation with DH-based inverse kinematic model) to 0.20 mm (after compensation model) and the average angle error from 0.470° to 0.046°. A bovine spine drilling experiment is carried out based on the 6-DoF compensation algorithm, and the average position error of the hole in the specific direction measured by the contour projector is 0.221 mm, achieving high positioning accuracy of bone drilling, demonstrating reliability and practical application value of medical bone drilling with the compensation of positioning algorithm.

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“…This 2-stage neural network can not only achieve precise laminae segmentation, but also result in less calculation amount, shorter image processing time, and improved accuracy of the reconstructed laminar models, which contributes to precise decompression of the laminae. Li et al [ 79 ] proposed a novel lamina positioning neural network, which can reach a recognition accuracy of 95.7%, this neural network can also identify and precisely locate the surgical target area from CT images with a positioning error of only 1.12 mm. They also proposed a grinding trajectory generator algorithm that allows the computer to complete grinding trajectory planning automatically.…”

Section: Clinical Application Scenarios For Spine Surgical Robotsmentioning

confidence: 99%

Spine Surgical Robotics: Current Status and Recent Clinical Applications

Wang,

Miao,

Zhan

et al. 2023

Neurospine

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With the development of artificial intelligence and the further deepening of medical-engineering integration, spine surgical robot-assisted (RA) technique has made significant progress and its applicability in clinical practice is constantly expanding in recent years. In this review, we have systematically summarized the majority of literature related to spine surgical robots in the past decade, and not only classified robots accordingly, but also summarized the latest research progress in RA technique for screw placement such as cervical, thoracic, and lumbar pedicle screws, cortical bone trajectory screws, cervical lateral mass screws, and S2 sacroiliac screws; guiding targeted puncture and placement of endoscope via the intervertebral foramen; complete resection of spinal tumor tissue; and decompressive laminectomy. In addition, this report also provides a detailed evaluation of RA technique’s advantages and disadvantages, and clarifies the accuracy, safety, and practicality of RA technique. We consider that this review can help clinical physicians further understand and familiarize the current clinical application status of spine surgical robots, thereby promoting the continuous improvement and popularization of RA technique, and ultimately benefiting numerous patients.

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Grinding trajectory generator in robot-assisted laminectomy surgery

Cited by 9 publications

References 22 publications

Evolution of Surgical Robot Systems Enhanced by Artificial Intelligence: A Review

Evolution of Surgical Robot Systems Enhanced by Artificial Intelligence: A Review

Six degrees of freedom positioning compensation method of robotic arm-assisted medical bone drilling

Spine Surgical Robotics: Current Status and Recent Clinical Applications

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