Robotic Surgical Procedures ; Robotics ; Orthopedic Procedures ; Orthopedics ; Surgery, Computer-Assisted

To provide accurate information for registration and safety evaluation of surgical robot, the pose repeatability measurement method was proposed. According to the terminal instrument of the master-slave surgical robot (such as high-frequency electric knife, ultrasonic knife), a suitable target ball fixture was designed. The node data at 10%, 50% and 100% rated speed were measured respectively. Through data analysis, the pose repeatability property of the tested samples at different speeds was obtained. It has high applicability and repeatability, and can meet the requirements of data traceability and registration testing.
Equipment Design ; Lasers ; Robotic Surgical Procedures ; Robotics ; Surgery, Computer-Assisted

This paper designed an automatic robotic puncture system for accurate liver cancer ablation based on optical surgical navigation. The near-infrared optical surgical navigation system we constructed for liver ablation was applied to carry out surgical planning and simulation, the near-infrared cameras dynamically tracked the current position of puncture needle relative to the location of the patient's anatomy, then guided the surgery robot to position precisely in three-dimensional space and performed the surgery.
Humans ; Liver Neoplasms ; surgery ; Needles ; Punctures ; Robotic Surgical Procedures ; Surgery, Computer-Assisted

No abstract available.
Surgery, Computer-Assisted*

The author herein reviews recent series of projects aimed at developing computer- and robot-assisted otological surgery. The author's team and its collaborating institutions have developed devices for image-guided surgery and robots for otological procedures. The accumulation of user-oriented research resulted in developing a unique robotic system of human-robot collaborative control, which is the system that restricts the surgeon's hand only if surrounding structures are in danger of injury. Thus, as many other fields in the surgery, otological procedures can also be assisted by computers and robots that provide objective and patient-specific anatomical information during surgery.
Hand ; Surgery, Computer-Assisted

No abstract available.
Surgery, Computer-Assisted*

PURPOSE: The purposes of this study were to develop an intraoperative navigation system as the first step toward image-guided surgery and robotic surgery, and to evaluate its accuracy. MATERIALS AND METHODS: The navigation system was composed of an optical tracking system (Polaris, Northern Digital) and a personal computer. The registration error and target localization error of fiducial registration and surface registration were measured using a phantom. Each of the errors was measured 30 times, and the average values and the standard deviations were calculated. RESULTS: The registration error was 0.84 +/- 0.28 mm at fiducial registration and 0.81 +/- 0.21 mm at surface registration. The target localization error was 1.54 +/- 0.34 mm at fiducial registration and 1.46 +/- 0.32 mm at surface registration. CONCLUSION: We have developed an intraoperative navigation system using an optical tracker, and could assure ourselves that its accuracy is adequate for many orthopaedic surgeries. However, it still requires improvement in the accuracy and development of specific software and instruments for various operations.
Microcomputers ; Surgery, Computer-Assisted

In neurosurgery, skull repair caused by surgical approach is one of the important research contents. In this paper, a rapid reconstruction method of the skull defect with optical navigation system is proposed. This method can automatically reconstruct the structure of skull defect with the intraoperative defect edge points and preoperative medical image data. The head model experiment was used to evaluate the effect of the method, the average error of the reconstruction of the defect in the right orbit was 0.424 mm, while the average error of the reconstruction of the defect in the posterior skull base was 0.377 mm. The experimental results show that the structure of the defect is consistent with the actual defect, and the reconstruction accuracy satisfies the clinical requirements in neurosurgery.
Craniotomy ; Surgery, Computer-Assisted

OBJECTIVE: To evaluate the accuracy and feasibility of a custom robot system guided by optical navigation for needle puncture on trigeminal gasserian ganglion. METHODS: A synthetic human skull model was used, with plasticine placed around the skull base to imitate the human soft tissue. Cone beam CT (CBCT) scanning was performed before the operation. With image data transferred to the graphical user interface of the computer workstation, the oval foramen was selected as the target and the "skin entry point" was also determined by the surgeon on the surgical planning software. Thus the needle trajectory was eventually planned. The skull model was fixed firmly to the trial table with a head clamp and relative size of the trial table was the same as a standard operating table. Following point-based registration, the data were sent to the robot control unit. Only after the surgeon's confirmation, the needle was automatically inserted into the intended target by the robot guided by optical navigation. When the procedure was completed, the instantaneous data of the needle tip orientation acquired by navigation system was sent back to the computer workstation for accuracy verification by calculating the geometric distance between the needle tip and the planning target after matrix transformation. Subsequently, after the needle had been released, CBCT scanning was also acquired to make image fusion of the preoperative skull and the postoperative skull. The data of the needle tip orientation was acquired on the postoperative image and the accuracy was re-verified by calculating the geometric distance between the needle tip and the planning target after matrix transformation. IBM SPSS Statistics 20 was used for statistical analysis and the paired t-test was used to compare the differences in the accuracy measured by the intraoperative navigation and postoperative image fusion. RESULTS: All 20 interventions were successfully located in oval foramen at the first needle insertion. The mean deviation of the needle tip was (0.56±0.07) mm (measured by the navigation system) and (1.49±0.14) mm (measured by the image fusion), respectively (P<0.001). CONCLUSION The experimental results show the robot system is efficient and reliable. The navigation accuracy is one of the most significant factors in robotic procedures.
Humans ; Needles ; Robotic Surgical Procedures ; Robotics ; Surgery, Computer-Assisted ; Trigeminal Ganglion

Humans ; Lumbar Vertebrae/surgery* ; Minimally Invasive Surgical Procedures ; Pedicle Screws ; Retrospective Studies ; Robotic Surgical Procedures ; Spinal Fusion ; Surgery, Computer-Assisted