한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)
- 한국정밀공학회 2005년도 추계학술대회 논문집
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- Pages.144-148
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- 2005
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- 2005-8446(pISSN)
영상 지원 척추 융합 수술 로봇 시스템의 개발
Development of An Image-Guided Robotic Surgery System for Spinal Fusion
- 정구봉 (한양대) ;
- 이수강 (LG 산전) ;
- 김성민 (한양대 대학원) ;
- 오세민 (한양대 대학원) ;
- 이병주 (한양대 전기전자공학부) ;
- 김영수 (한양대 의과대학) ;
- 박종일 (한양대 의용공학과) ;
- 오성훈 (한양대 의과대학) ;
- 김희국 (고려대 제어계측공학과)
- Chung Goo-Bong (Hanyang Univ.) ;
- Lee Soo-Gang (Hanyang Univ.) ;
- Kim Sung-Min (Hanyang Univ.) ;
- Oh Se-Min (Hanyang Univ.) ;
- Yi Byung-Ju (Hanyang Univ.) ;
- Kim Young-Soo (Hanyang Univ.) ;
- Park Jong-Il (Hanyang Univ.) ;
- Oh Seong-Hoon (Hanyang Univ) ;
- Kim Whee-Kuk (Korea Univ.)
- 발행 : 2005.10.01
초록
The goal of this work is to develop and test a robot-assisted surgery system for spinal fusion. The system is composed of a robot, a surgical planning system, and a navigation system. It plays the role of assisting surgeons for inserting a pedicle screw in the spinal fusion procedure. Compared to conventional methods fer spinal fusion, the proposed surgical procedure ensures minimum invasion and better accuracy by using robot and image information. The robot plays the role of positioning and guiding needles, drills, and other surgical instruments or conducts automatic boring and screwing. Pre-operative CT images and intra-operative fluoroscopic images are integrated to provide the surgeon with information for surgical planning. Several experiments employing the developed robotic surgery system are conducted. The experimental results confirmed that the system is not only able to guide the surgical tools by accurately pointing and orienting the specified location, but also successfully compensate the movement of the patient due to his/her respiration.