Publication

Hanyang University HumanRobotics Lab

Domestic Conference
영상 지원 척추 융합 수술 로봇 시스템의 개발
Conference
한국정밀공학회 학술발표대회 논문집
Author
정구봉, 이수강, 김성민, 오세민, 이병주, 김영수, 박종일, 오성훈, 김희국
Year
2005
Date
2005.10
File
[2005]영상 지원 척추 융합 수술 로봇 시스템의 개발.pdf (1.2M) 0회 다운로드 DATE : 2020-10-17 22:02:56
The goal of this work is to develop and test a robot-assisted surgery system for spinal fusion. The system is composed of a robot, a surgical planning system, and a navigation system. It plays the role of assisting surgeons for inserting a pedicle screw in the spinal fusion procedure. Compared to conventional methods for spinal fusion, the proposed surgical procedure ensures minimum invasion and better accuracy by using robot and image information. The robot plays the role of positioning and guiding needles, drills, and other surgical instruments or conducts automatic boring and screwing. Pre-operative CT images and intra-operative fluoroscopic images are integrated to provide the surgeon with information for surgical planning. Several experiments employing the developed robotic surgery system are conducted. The experimental results confirmed that the system is not only able to guide the surgical tools by accurately pointing and orienting the specified location, but also successfully compensate the movement of the patient due to his/her respiration.