Journal of Biomedical Engineering Research (대한의용생체공학회:의공학회지)

The Korean Society of Medical and Biological Engineering (대한의용생체공학회)
권호 표지

Computer Integrated Surgical Robot System for Spinal Fusion

  • Kim Sungmin (Department of Biomedical Engineering, Hanyang University) ;
  • Chung Goo Bong (School of Electrical Engineering and Computer Science, Hanyang University) ;
  • Oh Se Min (School of Electrical Engineering and Computer Science, Hanyang University) ;
  • Yi Byung-Ju (School of Electrical Engineering and Computer Science, Hanyang University) ;
  • Kim Whee Kuk (Department of Control and Instrumentation Engineering Korea University) ;
  • Park Jong Il (School of Electrical Engineering and Computer Science, Hanyang University) ;
  • Kim Young Soo (Department of Neurosurgery, School of Medicine, Hanyang University)
  • Published : 2005.10.01
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Abstract

A new Computer Integrated Surgical Robot system is composed of a surgical robot, a surgical planning system, and an optical tracking system. The system plays roles of an assisting surgeon and taking the place of surgeons for inserting a pedicle screw in spinal fusion. Compared to pure surgical navigation systems as well as conventional methods for spinal fusion, it is able to achieve better accuracy through compensating for the portending movement of the surgical target area. Furthermore, the robot can position and guide needles, drills, and other surgical instruments or conducts drilling/screwing directly. Preoperatively, the desired entry point, orientation, and depth of surgical tools for pedicle screw insertion are determined by the surgical planning system based on CT/MR images. Intra-operatively, position information on surgical instruments and targeted surgical areas is obtained from the navigation system. Two exemplary experiments employing the developed image-guided surgical robot system are conducted.

Keywords

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