A Surgical Robotic System for Osteoporotic Hip Augmentation: System Development and Experimental Evaluation.
A Surgical Robotic System for Osteoporotic Hip Augmentation: System Development and Experimental Evaluation.
复制标题
用于骨质疏松髋关节增强的手术机器人系统：系统开发和实验评估。
DOI：
10.1109/tmrb.2023.3241589
复制
发表时间：
2023
期刊：
影响因子：
--
通讯作者：
Armand,Mehran
中科院分区：
文献类型：
--
作者：
Bakhtiarinejad,Mahsan;Gao,Cong;Farvardin,Amirhossein;Zhu,Gang;Wang,Yu;Oni,JuliusK;Taylor,RussellH;Armand,Mehran
通过注射骨水泥进行的微创骨质疏松性髋关节增强术（OHA）是降低髋部骨折风险的潜在治疗选择。计算机辅助计划和执行系统可以优化水泥注入模式，从而显著地受益于这种治疗。我们提出了一种新的机器人系统的执行OHA，包括一个6自由度的机械臂和集成的钻孔和注射组件。微创手术是通过使用基于多视图图像的2D/3D配准将机器人和术前图像配准到手术场景来执行的，而无需将外部基准附接到身体。通过实验性人工骨研究以及使用完整软组织的尸体实验来评价该系统的性能。在尸体实验中，计算出进入点和靶点的距离误差为3.28 mm和2.64 mm，定向误差为2.30°。此外，据报告，注入和计划骨水泥轮廓之间的平均表面距离误差为2.13 mm，平移误差为4.47 mm。实验结果表明，建议的机器人辅助联合钻孔和注射系统（RADIS），结合生物力学规划和术中无基准的2D/3D登记与完整的软组织的人尸体上的第一个应用程序。
Minimally-invasive Osteoporotic Hip Augmentation (OHA) by injecting bone cement is a potential treatment option to reduce the risk of hip fracture. This treatment can significantly benefit from computer-assisted planning and execution system to optimize the pattern of cement injection. We present a novel robotic system for the execution of OHA that consists of a 6-DOF robotic arm and integrated drilling and injection component. The minimally-invasive procedure is performed by registering the robot and preoperative images to the surgical scene using multi-view image-based 2D/3D registration with no external fiducial attached to the body. The performance of the system is evaluated through experimental sawbone studies as well as cadaveric experiments with intact soft tissues. In the cadaver experiments, distance errors of 3.28 mm and 2.64 mm for entry and target points and orientation error of 2.30° are calculated. Moreover, the mean surface distance error of 2.13 mm with translational error of 4.47 mm is reported between injected and planned cement profiles. The experimental results demonstrate the first application of the proposed Robot-Assisted combined Drilling and Injection System (RADIS), incorporating biomechanical planning and intraoperative fiducial-less 2D/3D registration on human cadavers with intact soft tissues.