Chinese Journal of Tissue Engineering Research ›› 2023, Vol. 27 ›› Issue (22): 3492-3497.doi: 10.12307/2023.350

Previous Articles     Next Articles

Pedicle screw placement assisted by frame-type parallel orthopedic robot

Guo Kai1, Zhang Jiahao2, Huang Xing2, Xin Baoquan3, Zhang Linxiang4, Jiang Lijun4, Ni Xiangzhi2, You Chaoqun1, Cao Dong5, Liu Tielong2   

  1. 1School of Clinical Medicine, Weifang Medical University, Weifang 261053, Shandong Province, China; 2Department of Orthopedic Oncology, Second Affiliated Hospital of Naval Medical University, Shanghai 200003, China; 3School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200003, China; 4School of Medicine, Ningbo University, Ningbo 315000, Zhejiang Province, China; 5Shanghai Hepu Medical Technology Co., Ltd., Shanghai 200336, China
  • Received:2022-04-05 Accepted:2022-05-19 Online:2023-08-08 Published:2022-11-02
  • Contact: Liu Tielong, Chief physician, MD, Department of Orthopedic Oncology, Second Affiliated Hospital of Naval Medical University, Shanghai 200003, China
  • About author:Guo Kai, Master candidate, School of Clinical Medicine, Weifang Medical University, Weifang 261053, Shandong Province, China
  • Supported by:
    The 2019 Key Basic Research Project of Basic Strengthening Program of National Defense Science and Technology, No. 2019-JCJQ-ZD-120-50 (to LTL)

Abstract: BACKGROUND: Our group, together with the Institute of Robotics of Shanghai University and Shanghai Hepu Medical Technology Co., Ltd. developed this Frame-type Parallel Orthopedic Robot in the hope of contributing to the development of domestic orthopedic surgical robots. 
OBJECTIVE: To test the feasibility of the frame-type parallel orthopedic robot-assisted lumbar spine surgery by animal lumbar spine experiments and to verify its operational performance and the accuracy of the assisted nail placement.
METHODS: A total of twelve goat lumbar vertebrae were randomized into two groups. In the experimental group (6 vertebrae, 60 nail paths), the screw path was planned according to 3D CT data using the surgical robot and Kirschner wire placement was assisted by frame-type parallel orthopedic robot. The control group (6 vertebrae, 60 nail paths) was manually implanted with Kirschner wire under the 2D X-ray data. The screw path planning time, Kirschner wire placement time and X-ray exposure time were recorded. CT images of both groups were collected after the experiment. The accuracy and the excellent and good rate of Kirschner wire placement were assessed according to the modified Gertzbein-Robbins criteria.
RESULTS AND CONCLUSION: (1) The screw path planning time of the experimental group was longer than that of the control group (P < 0.001). There were no statistically significant differences in Kirschner wire placement time and X-ray exposure time between the experimental group and the control group (P > 0.05). (2) According to the CT scan of the specimens after the experiment, the success rate and the excellent and good rate of the experimental group were 100% and 96.7%, and those of the control group were 98.3% and 85.0%. The excellent and good rate of the experimental group was significantly higher than that of the control group (P < 0.05). (3) This demonstrates that frame-type parallel orthopedic robot-guided placement of pedicle screws has a higher accuracy rate compared with intraoperative C-arm fluoroscopy-guided freehand screw placement, which can effectively improve surgical safety.

Key words: frame-type, parallel spine, surgical robot, orthopedic surgery, pedicle screw

CLC Number: