Related Experiment Video
Updated: Jun 25, 2026
A Spine Robotic-Assisted Navigation System for Pedicle Screw Placement
Published on: May 11, 2020
Automated multi-trajectory planning for C1-C2 screw fixation using CT-derived 3D models
Yau-Zen Chang1,2, Sanny Kumar Sahani1, Shih-Lin Wu1
1Chang Gung University, 333323, Taoyuan, Taiwan.
Purpose:
To evaluate an automated computed tomography (CT)-derived three-dimensional (3D) model-based planning pipeline for C1-C2 screw fixation that generates multiple anatomically grounded trajectories per side, and to test the hypothesis that redundancy-by-design provides at least one Grade 0-1 candidate per evaluable side.
Methods:
This retrospective, single-center study with supportive external dataset testing on VerSe 2019 used CT-derived 3D surface models, PointNet++ (aligned) point cloud segmentation, and geometric landmarking to generate four candidate screw axes for C1 and three for C2 per side. Internal and external candidates were graded independently by two spine-surgeon raters using the Gertzbein-Robbins scale. Conservative consensus was defined as Grade 0-1 only when both raters graded a candidate as Grade 0 or 1. The primary endpoint was side-level coverage of at least one Grade 0-1 candidate; secondary endpoints included candidate-level Grade 0-1 rate, segmentation performance mean intersection-over-union (mIoU), landmark localization error, and inter-rater agreement.
Results:
On the internal test set, segmentation achieved a mean region-wise mIoU of 88.8%, with landmark localization errors of approximately 1 mm. By conservative consensus, 93.6% of internal candidates were Grade 0-1 (96.1% and 93.8% by individual raters). On the external VerSe 2019 dataset, the conservative-consensus Grade 0-1 rate was 88.5% overall, including 82.1% for C1 and 97.0% for C2. Every evaluable internal and external side had at least one Grade 0-1 candidate. Inter-rater agreement was substantial in both datasets.
Conclusions:
The CT-derived 3D point-cloud and geometric planning pipeline generated multiple C1-C2 screw trajectory candidates and the redundancy-by-design strategy provides retrospective preclinical feasibility evidence for a reproducible preoperative decision-support framework. Further multicentre, vascular-risk-aware, cadaveric/intraoperative, and prospective validation is required before clinical deployment.
