2024/06/07 by Suhail Ansari T, T, Suhail Ansari, Vivek Maik +9
Engineering · Medicine · #FOS: Computer and information sciences #FOS: Electrical engineering #Image and Video Processing (eess.IV) #Medical Imaging and Analysis #Robotics (cs.RO) #Soft Robotics and Applications #Spinal Fractures and Fixation Techniques #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2407.01578
openalex publication_date 2024/06/07 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
In response to the growing demand for precise and affordable solutions for Image-Guided Spine Surgery (IGSS), this paper presents a comprehensive development of a Robot-Assisted and Navigation-Guided IGSS System. The endeavor involves integrating cutting-edge technologies to attain the required surgical precision and limit user radiation exposure, thereby addressing the limitations of manual surgical methods. We propose an IGSS workflow and system architecture employing a hybrid-layered approach, combining modular and integrated system architectures in distinctive layers to develop an affordable system for seamless integration, scalability, and reconfigurability. We developed and integrated the system and extensively tested it on phantoms and cadavers. The proposed system's accuracy using navigation guidance is 1.02 0.34 mm, and robot assistance is 1.11 0.49 mm on phantoms. Observing a similar performance in cadaveric validation where 84% of screw placements were grade A, 10% were grade B using navigation guidance, 90% were grade A, and 10% were grade B using robot assistance as per the Gertzbein-Robbins scale, proving its efficacy for an IGSS. The evaluated performance is adequate for an IGSS and at par with the existing systems in literature and those commercially available. The user radiation is lower than in the literature, given that the system requires only an average of 3 C-Arm images per pedicle screw placement and verification.