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Advancements and Challenges in Robot-Assisted Bone Processing in Neurosurgical Procedures.

Yoshihiro Kitahama1,2,3, Hiroo Shizuka4, Yuto Nakano4

  • 1Departments by Donation Developed Studies for Advanced Robotic Surgery, Hamamatsu University School of Medicine, Hamamatsu, Japan.

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|April 3, 2024
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Summary

This study automated robotic bone grinding for neurosurgery, measuring 3-axis resistance during procedures. Robotic grinding achieved higher speeds than manual surgery but faced challenges in cylindrical tasks.

Keywords:
Full-endoscopic spine surgeryNeurosurgeryRemote operation roboticsRobot surgerySurgical navigation system

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Area of Science:

  • Neurosurgery
  • Robotics
  • Biomedical Engineering

Background:

  • Neurosurgical robotic applications are underexplored.
  • Industrial robots are being developed for secure and efficient neurosurgical systems.
  • Automating bone grinding is crucial for neurosurgical procedures.

Purpose of the Study:

  • To automate bone grinding in neurosurgical procedures using a robotic system.
  • To establish a secure and efficient neurosurgical robotic system.
  • To measure 3-axis grinding resistance during robotic bone machining.

Main Methods:

  • Integrated an endoscope into a robotic manipulator.
  • Performed precision bone machining using a neurosurgical drill.
  • Recorded 3-axis grinding resistance for linear (laminectomy) and cylindrical (foraminotomy) tasks.

Main Results:

  • Grinding resistance increased proportionally with acceleration in linear grinding.
  • 3-axis resistance measurements can predict deep cortical penetration.
  • Cylindrical grinding showed a 10% error due to tool tip efficiency, speed, teaching, and deflection.

Conclusions:

  • Successfully measured 3-axis tool tip resistance during robotic bone machining (3-8 Nm).
  • Robotic processing speed was approximately double that of manual surgery.
  • Simulated foraminotomy under endoscopic conditions had a -10% error margin.