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International Journal of Computer Assisted Radiology and Surgery

Published in:

01-08-2020 | Original Article

Markerless robotic pedicle screw placement based on structured light tracking

Authors: Shijie Zhu, Zhe Zhao, Yongwei Pan, Gangtie Zheng

Published in: International Journal of Computer Assisted Radiology and Surgery | Issue 8/2020

Abstract

Purpose

Most existing robot systems for pedicle screw placement rely on optical markers to establish the spatial relationship between the surgical tool and the surgical path. Marker installation and registration are time-consuming, and error may also accumulate along the complicated coordinate transformation chain. Therefore, we proposed a markerless structured light-based method to simplify the surgery workflow and the coordinate transformation chain.

Methods

Firstly, a structured light camera is used to directly track both the surgical tool and the bone anatomy without using markers. Secondly, a markerless “two-direction” approach for robot-camera registration together with a feedback robot control method is developed. Lastly, a prototype system is built and examined with precision validation experiments and pedicle screw drilling experiments.

Results

Precision validation experiments show satisfactory positioning accuracy of the system. In drilling experiments, 42 paths were drilled on three synthesized cervical vertebrae phantoms and all the paths successfully went through the pedicles. The mean position error of the entry point was 0.28 ± 0.16 mm, and the mean angle error was 0.49 ± 0.24°, which can meet the clinical requirement.

Conclusion

The results show the feasibility of the proposed structured light-based method for pedicle screw placement, which has a simple workflow and can achieve good accuracy without using optical markers.

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Title: Markerless robotic pedicle screw placement based on structured light tracking
Authors: Shijie Zhu
Zhe Zhao
Yongwei Pan
Gangtie Zheng
Publication date: 01-08-2020
Publisher: Springer International Publishing
Published in: International Journal of Computer Assisted Radiology and Surgery / Issue 8/2020
Print ISSN: 1861-6410
Electronic ISSN: 1861-6429
DOI: https://doi.org/10.1007/s11548-020-02215-x

Keynote webinar | Spotlight on medication adherence

Springer Medicine

Markerless robotic pedicle screw placement based on structured light tracking

Abstract

Purpose

Methods

Results

Conclusion

Keynote webinar | Spotlight on medication adherence

Springer Medicine

Abstract

Purpose

Methods

Results

Conclusion

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