Sensorless Based Haptic Feedback Integration In Robot-assisted Pedicle Screw Insertion For Lumbar Spine Surgery: A...

Area of Science:

• Robotics in Surgery
• Spinal Surgery
• Medical Device Technology

Background:

• Pedicle screw fixation is crucial for spinal pathologies but faces challenges like limited visibility and high radiation exposure.
• Current methods rely heavily on surgeon's hand-eye coordination, leading to potential inaccuracies.
• Fluoroscopy X-ray guidance contributes to significant radiation exposure for patients and staff.

Purpose of the Study:

• To introduce a novel robot-assisted system for pedicle screw insertion.
• To incorporate sensorless haptic feedback and 5-DOF surgical manipulation.
• To minimize radiation exposure, reduce operating time, and improve surgical outcomes.

Main Methods:

• A robot-assisted system with sensorless haptic feedback was developed.
• The system was tested in preliminary cadaveric experiments at the L4-L5 lumbar spine level.
• Both percutaneous and open pedicle screw insertions were performed and validated.

Main Results:

• Successful placement of percutaneous and open pedicle screws was achieved.
• Average position errors were 0.011 radians (percutaneous) and 0.0116 radians (open).
• Average torque errors were 0.054 Nm (percutaneous) and 0.0057 Nm (open).

Conclusions:

• The sensorless haptic feedback in robot-assisted systems shows potential for enhanced precision in spinal surgery.
• This technology can significantly reduce radiation exposure during pedicle screw insertion.
• The findings represent a significant advancement in spinal surgery technology, improving safety and outcomes.