Biplanar Fluoroscopy-Guided Robot System for Percutaneous Spinal Surgery

Abstract

The goal of this work is to develop a bi-planar fluoroscopy-guided surgical procedure for spinal fusion. The surgical system is composed of a surgical robot, a surgical planning system, a bi-planar fluoroscopy, and a navigation system. The system plays the role of assisting surgeon for inserting a pedicle screw in spinal fusion. The self-made bi- planar fluoroscopy is used as a reference coordinate to which the robot position and the target position are initialized. During operation, it provides the surgion with real time operative images. Compared to pure navigation system as well as conventional methods for spinal fusion, it is able to achieve better accuracy through compensating for the portending movement of the surgical area. The phantom and cadaver experiment employing the developed image-guided robotic surgery system are being conducted successfully.