Abstract:

BACKGROUND: The transpedicular placement used by spinal surgery robot must depend on the computer aided surgery navigation system (CASNS) at present. Due to the disadvantages of the CASNS, the robot not only has complexity in structure, but also difficulty of further improving the insertion accuracy.
OBJECTTIVE: To analyze the value of the external and internal “十” registration method for improving the insertion accuracy of the self-designed spinal navigation surgery robot.
METHODS: According to the data measured on CT scanning, the distance and angle of the two guide wires of the manipulator were set, and its needlepoint locating at the two pedicle central axis (PCA) entry points (EP) were confirmed by the lateral and anteroposterior fluoroscopy. After the two central axis of guide wire and central view axis of C-Arm were coincided respectively, the pedicle axis view was acquired via C-arm, the external “十” was adjusted to register with the internal “十”, then the centre of pedicle isthmus(CPI) was confirmed. Depending on the principle two points making a line, the insertion along the PCA was achieved by the robot when the guide wire was inserted through the EP and CPI. Similarly, after the EP and CPI was confirmed, the two guide wires were reset in accordance with the distance and angle deviating from the EP and PCA measured on CT scanning, it was inserted along the palnned trajectory accurately.
RESULTS AND CONCLUSION: Depending on the principle of the external and internal “十” registration and two points making a line, the guide wire can be inserted along the PCA or the planned trajectory, which provides a new and efficient method of improving the accuracy for the spinal surgery navigation robot.