Journal article
Bone registration method for robot assisted surgery : pedicle screw insertion
Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine, Vol.211(3), pp.221-233
1997
DOI: 10.1243/0954411971534331
PMID: 9255999
Abstract
A registration method that identifies bone geometry with respect to a robotic manipulator arm is presented. Although the method is generally applicable to many orthopaedic internal fixation procedures, it was only demonstrated for the insertion of pedicle screws in vertebral bodies for spine fixation. The method relies upon obtaining an impression of the vertebral bodies. Computerized tomography (CT) scans of both vertebrae and mould are reconstructed using a computer aided engineering (CAE) system. From the reconstructions, the surgeon is able to do preoperative planning including selection of pedicle screw diameter, direction of screw through pedicle, point of entry and length of engagement. The three-dimensional models are then meshed to determine positions of the surgeon's preoperative plan relative to the mould. Intra-operative positions are defined in space by a mechanical fixture rigidly attached to the mould and designed to allow a manipulator end-effector to recognize the global coordinates of the in vivo spine. The theory and methodology were validated using a five-axis manipulator arm. This initial presentation assumes and allows no relative motion between vertebrae in vivo.
Details
- Title: Subtitle
- Bone registration method for robot assisted surgery : pedicle screw insertion
- Creators
- K ABDEL-MALEK - Department of Mechanical Engineering, University of Iowa, Iowa, United StatesD. P MCGOWAN - Department of Surgery, Veteran's Administration Medical Center, Des Moines, Iowa, United StatesV. K GOEL - Department of Biomedical Engineering, University of Iowa, Iowa, United StatesD KOWALSKI - Department of Biomedical Engineering, University of Iowa, Iowa, United StatesS. B SMITH - Department of Orthopaedic Surgery, Indiana University, Indianapolis, Indiana, United States
- Resource Type
- Journal article
- Publication Details
- Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine, Vol.211(3), pp.221-233
- Publisher
- Mechanical engineering publications; Suffolk
- DOI
- 10.1243/0954411971534331
- PMID
- 9255999
- ISSN
- 0954-4119
- eISSN
- 2041-3033
- Language
- English
- Date published
- 1997
- Academic Unit
- Roy J. Carver Department of Biomedical Engineering; Mechanical Engineering
- Record Identifier
- 9984064583202771
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