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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.
Neurospine
|April 3, 2024
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.
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.
