scholarly journals Toward robot-assisted dental surgery: Path generation and navigation system using optical tracking approach

2009 ◽  
Author(s):  
A. Lorsakul ◽  
J. Suthakorn ◽  
C. Sinthanayothin ◽  
W. Tharanon
Keyword(s):  
Navigation System ◽  
Optical Tracking ◽  
Path Generation ◽  
Robot Assisted ◽  
Dental Surgery

scholarly journals Navigation system for robot-assisted intra-articular lower-limb fracture surgery

2016 ◽  
Vol 11 (10) ◽  
pp. 1831-1843 ◽  
Author(s):  
Giulio Dagnino ◽  
Ioannis Georgilas ◽  
Paul Köhler ◽  
Samir Morad ◽  
Roger Atkins ◽  
...  
Keyword(s):  
Navigation System ◽  
Lower Limb ◽  
Robot Assisted ◽  
Limb Fracture ◽  
Fracture Surgery

scholarly journals Optical Navigation-Related Factors Interfering With The Accuracy of Robot-Assisted Surgery

2021 ◽  
Author(s):  
Wei Tian ◽  
Zhan Shi ◽  
Zuchang Li ◽  
Mingxing Fan ◽  
Qilong Wang ◽  
...  
Keyword(s):  
Optical Tracking ◽  
Relative Distance ◽  
Screw Placement ◽  
Mean Deviation ◽  
Robot Assisted ◽  
Robot System ◽  
Related Factors ◽  
Clinical Factor ◽  
Relative Angle ◽  
Robot Assisted Surgery

Abstract Objective To explore navigation-related factors interfering with accuracy of robot-assisted surgery. Methods We made a measurement model to test the accuracy of the TianJi Robot system when performing the stimulated screw placement procedure. The three-coordinate machine was used to measure the deviation between the actual position and the planned position. We designed corresponding experiments to explore the effects of different navigation-related factors on the screw placement accuracy. The deviations were measured at different distance (ranging from 1.2 m to 2.2 m) between the navigation optical stereo camera and the tracker and each distance was measured 50 times. The distance between the optical camera and the patient tracker was set at 1.4 m and the deviations were measured at different angles between the camera and the robot tracker, each angle was measured more than 25 times. Data was donated with mean and standard deviation. The line charts were employed to describe the changes of deviations over one clinical factor including distance and angle. Results Within the available scope of navigation optical system (1.2 m-2.2 m), the deviation increased with the distance (χ2=479.107, P<0.001). The robotic system accuracy was high and stable (mean deviation 0.332 mm ± 0.067 mm) when the relative angle between the optical camera and the tracker less than 40 degrees. Conclusions Accuracy of robot system was affected by the relative distance and angle between the optical camera and the tracker. When placing and adjusting the optical tracking devices, surgeons should set the relative distance between the optical camera and the patient tracker as 1.4 m- 1.5 m and the relative angle less than 40 degrees.

scholarly journals Optimization of virtual and real registration technology based on augmented reality in a surgical navigation system

2020 ◽  
Vol 19 (1) ◽  
Author(s):  
Long Chen ◽  
Fengfeng Zhang ◽  
Wei Zhan ◽  
Minfeng Gan ◽  
Lining Sun
Keyword(s):  
Augmented Reality ◽  
Navigation System ◽  
Surgical Navigation ◽  
Experimental Results ◽  
Lesion Area ◽  
Robot Assisted ◽  
Identification Method ◽  
Average Accuracy ◽  
True Shape ◽  
Navigation Interface

Abstract Background The traditional navigation interface was intended only for two-dimensional observation by doctors; thus, this interface does not display the total spatial information for the lesion area. Surgical navigation systems have become essential tools that enable for doctors to accurately and safely perform complex operations. The image navigation interface is separated from the operating area, and the doctor needs to switch the field of vision between the screen and the patient’s lesion area. In this paper, augmented reality (AR) technology was applied to spinal surgery to provide more intuitive information to surgeons. The accuracy of virtual and real registration was improved via research on AR technology. During the operation, the doctor could observe the AR image and the true shape of the internal spine through the skin. Methods To improve the accuracy of virtual and real registration, a virtual and real registration technique based on an improved identification method and robot-assisted method was proposed. The experimental method was optimized by using the improved identification method. X-ray images were used to verify the effectiveness of the puncture performed by the robot. Results The final experimental results show that the average accuracy of the virtual and real registration based on the general identification method was 9.73 ± 0.46 mm (range 8.90–10.23 mm). The average accuracy of the virtual and real registration based on the improved identification method was 3.54 ± 0.13 mm (range 3.36–3.73 mm). Compared with the virtual and real registration based on the general identification method, the accuracy was improved by approximately 65%. The highest accuracy of the virtual and real registration based on the robot-assisted method was 2.39 mm. The accuracy was improved by approximately 28.5% based on the improved identification method. Conclusion The experimental results show that the two optimized methods are highly very effective. The proposed AR navigation system has high accuracy and stability. This system may have value in future spinal surgeries.

Augmented reality navigation system for laparoscopic splenectomy in children based on preoperative CT image using optical tracking device

2011 ◽  
Vol 28 (4) ◽  
pp. 341-346 ◽  
Author(s):  
Satoshi Ieiri ◽  
Munenori Uemura ◽  
Kouzou Konishi ◽  
Ryota Souzaki ◽  
Yoshihiro Nagao ◽  
...  
Keyword(s):  
Augmented Reality ◽  
Navigation System ◽  
Laparoscopic Splenectomy ◽  
Optical Tracking ◽  
Ct Image ◽  
Preoperative Ct ◽  
Tracking Device

A Robot-Assisted Surgery Positioning Method for Artificial Cervical Disc Replacement

2011 ◽  
Vol 403-408 ◽  
pp. 3009-3014
Author(s):  
He Qiang Tian ◽  
Dong Mei Wu ◽  
Zhi Jiang Du ◽  
Li Ning Sun
Keyword(s):  
Tracking System ◽  
Optical Tracking ◽  
Disc Replacement ◽  
Planning System ◽  
Cervical Disc ◽  
Robot Assisted ◽  
Cervical Disc Replacement ◽  
Replacement Surgery ◽  
Positioning Method ◽  
Robot Assisted Surgery

Robotic–assisted surgery is a new trend in medicine. To overcome problems in artificial cervical disc replacement surgery, a robot-assisted surgery system which consists of an active 6-UPS parallel robot and its control system, a surgical planning system and an optical tracking system was developed to replace the cumbersome mechanical positioning device. A positioning method for robot-assisted cervical disc replacement surgery will be studied. Firstly, the robot-assisted surgery system is described. Secondly, the coordinate transformation method for robot-assisted surgery positioning is given. Then, a preoperative position and pose planning method is given. Finally, a robot-assisted surgery positioning by using the method in this paper is carried out. The result shows that the robot-assisted surgery positioning method in this paper is an effective method for artificial cervical disc replacement surgery.

scholarly journals Surgical Precision and Efficiency of a Novel Electromagnetic System Compared to a Robot-Assisted System in Percutaneous Pedicle Screw Placement of Endo-LIF

2021 ◽  
pp. 219256822110255
Author(s):  
Derong Xu ◽  
Xuexiao Ma ◽  
Lei Xie ◽  
Chuanli Zhou ◽  
Biao Kong
Keyword(s):  
Pedicle Screw ◽  
Navigation System ◽  
Guide Wire ◽  
Screw Placement ◽  
Pedicle Screw Placement ◽  
Robot Assisted ◽  
Electromagnetic Navigation ◽  
X Ray ◽  
Percutaneous Pedicle Screw ◽  
Electromagnetic Navigation System

Study Design: Retrospective database study. Objectives: To compare the accuracy and safety of 2 types of a computer-assisted navigation system for percutaneous pedicle screw placement during endoscopic lumbar interbody fusion. Methods: From May 2019 to January 2020, data of 56 patients who underwent Endo-LIF with a robot-assisted system and with an electromagnetic navigation system were compared. The pedicles in all patients were subjected to postoperative CT scan to assess screw correction by measuring the perpendicular distance between the pedicle cortical wall and the screw surface. The registration and matching time, guide-wire insertion time, the entire surgery time, and X-ray exposure time were recorded. Results: In the robot-assisted group, 25 cases with 100 percutaneous pedicle screws were included, and the excellent and good rate was 95%. In the electromagnetic navigation group, 31 cases with 124 screws were included, and the excellent rate was 97.6%. There was no statistical difference between the two groups ( P > 0.05). The registration time and the total time for the surgery also showed no statistical differences ( P > 0.05). The main difference between the two groups was the guide-wire insertion time and the X-ray exposure time ( P < 0.05). Conclusions: Both electromagnetic navigation and robot-assisted are safe and efficient for percutaneous pedicle screw placement. Electromagnetic navigation system has obvious advantages over robot-assisted in terms of faster guide-wire placement and less X-ray exposure. Robot-assisted for percutaneous pedicle screw placement offers a preoperative planning system and a stable registration system, with obvious drawbacks of a strict training curve.

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