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http://dx.doi.org/10.5302/J.ICROS.2011.17.8.807

Automated Surgical Planning System for Spinal Fusion Surgery with Three-Dimensional Pedicle Model  

Lee, Jong-Won (Pohang University of Science and Technology)
Kim, Sung-Min (Hanyang University)
Kim, Young-Soo (Hanyang University)
Chung, Wan-Kyun (Pohang University of Science and Technology)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.17, no.8, 2011 , pp. 807-813 More about this Journal
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 $2.44{\pm}0.51mm$.
Keywords
surgical planner; spinal fusion surgery; operational safety; medical robot;
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