International Journal of Control, Automation, and Systems

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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An Image-Guided Robotic Surgery System for Spinal Fusion

  • Chung Goo Bong (School of Electrical Engineering and Computer Science, Hanyang University) ;
  • Kim Sungmin (Department of Biomedical Engineering, Hanyang University) ;
  • Lee Soo Gang (Automation R&D Center, LG Indestrial Systems Co., Ltd.) ;
  • Yi Byung-Ju (School of Electrical Engineering and Computer Science, Hanyang University) ;
  • Kim Wheekuk (Department of Control and Instrumentation Engineering, Korea University) ;
  • Oh Se Min (School of Electrical Engineering and Computer Science, Hanyang University) ;
  • Kim Young Soo (College of Medicine, Hanyang University) ;
  • So Byung Rok (School of Electrical Engineering and Computer Science, Hanyang University) ;
  • Park Jong Il (Devision of Electrical and Computer Engineering, Hanyang University) ;
  • Oh Seong Hoon (College of Medicine, Hanyang University)
  • Published : 2006.02.01
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Abstract

The goal of this work is to develop and test a robot-assisted surgery system for spinal fusion. The system is composed of a robot, a surgical planning system, and a navigation system. It plays the role of assisting surgeons for inserting a pedicle screw in the spinal fusion procedure. Compared to conventional methods for spinal fusion, the proposed surgical procedure ensures minimum invasion and better accuracy by using robot and image information. The robot plays the role of positioning and guiding needles, drills, and other surgical instruments or conducts automatic boring and screwing. Pre-operative CT images intra-operative fluoroscopic images are integrated to provide the surgeon with information for surgical planning. Some experiments employing the developed robotic surgery system are conducted. The experimental results confirm that the system is not only able to guide the surgical tools by accurately pointing and orienting the specified location, but also successfully compensate the movement of the patient due to respiration.

Keywords

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