Robot arm based flat panel CT-guided electromagnetic tracked spine interventions: phantom and animal model...

Area of Science:

• Medical Robotics
• Image-Guided Therapy
• Spinal Interventions

Background:

• Accurate navigation is crucial for minimally invasive spinal procedures.
• Robotic systems and electromagnetic tracking offer potential improvements in precision and safety.

Purpose of the Study:

• To evaluate the accuracy and procedure times of electromagnetic tracking (EMT) integrated with a robotic arm mounted flat panel (RMFP).
• To assess the performance of this system in both anthropomorphic phantom and ex vivo animal cadaveric models for spinal interventions.

Main Methods:

• Utilized an RMFP system combined with EMT for punctures in lumbar facet joints (FJ) and intervertebral discs (IVD).
• Performed procedures on 90 anthropomorphic phantoms and 120 ex vivo pig models.
• Assessed and evaluated spatial accuracy and procedure times for all interventions.

Main Results:

• Facet joint (FJ) punctures achieved spatial accuracies of 0.8 ± 0.9 mm (phantom) and 0.6 ± 0.8 mm (ex vivo).
• Intervertebral disc (IVD) punctures showed deviations of 0.6 ± 1.2 mm (phantom) and 0.5 ± 0.6 mm (ex vivo).
• Ex vivo procedures and angulated punctures required longer planning and puncture times compared to phantom models and direct punctures, respectively.

Conclusions:

• The integration of RMFP with EMT provides a highly accurate navigation method for spinal interventions.
• This technology is effective for procedures such as facet joint and intervertebral disc punctures, demonstrating its clinical potential.