Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Automated Surgical Planning System for Spinal Fusion Surgery with Three-Dimensional Pedicle Model

척추 융합 수술을 위한 삼차원 척추경 모델을 이용한 자동 수술 계획 시스템

  • 이종원 (포항공과대학교 대학원, 기계공학과) ;
  • 김성민 (한양대학교 생체의공학과) ;
  • 김영수 (한양대학교 의과대학 신경외과) ;
  • 정완균 (포항공과대학교 대학원, 기계공학과)
  • Received : 2011.04.20
  • Accepted : 2011.06.08
  • Published : 2011.08.01
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Abstract

High precision of planning in the preoperative phase can contribute to increase operational safety during computer-aided spinal fusion surgery, which requires extreme caution on the part of the surgeon, due to the complexity and delicacy of the procedure. In this paper, an advanced preoperative planning framework for spinal fusion is presented. The framework is based on spinal pedicle data obtained from CT (Computed Tomography) images, and provides optimal insertion trajectories and pedicle screw sizes. The proposed approach begins with safety margin estimation for each potential insertion trajectory that passes through the pedicle volume, followed by procedures to collect a set of insertion trajectories that satisfy operation safety objectives. The radius of a pedicle screw was chosen as 70% of the pedicle radius. This framework has been tested on 68 spinal pedicles of 8 patients requiring spinal fusion. It was successfully applied, resulting in an average success rate of 100% and a final safety margin of $2.44{\pm}0.51mm$.

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