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Vertebral Column: Regions and Curvature01:16

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The vertebral column or spine is a flexible column that supports the head, neck, and body and  allows for their movements. It also protects the spinal cord.
Regions of the Vertebral Column
In an adult, the spine is subdivided into five regions: the cervical, the thoracic, the lumbar, the sacral, and the coccygeal region. The spine initially develops as a series of 33 vertebrae; after 20 years of age, the nine bones in the sacral region, five sacral, and four coccygeal bones fuse to form...
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相关实验视频

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A Spine Robotic-Assisted Navigation System for Pedicle Screw Placement
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通过对脊椎姿势的估计来改善脚螺丝路径的规划.

Yunxian Zhang1,2, Wenhai Liu1,2, Jingwei Zhao3

  • 1School of Biomedical Engineering, Capital Medical University, Beijing, People's Republic of China.

Physics in medicine and biology
|July 13, 2023
PubMed
概括
此摘要是机器生成的。

这项研究引入了YOLOPOSE3D用于机器人辅助脊椎手术,通过估计脊椎姿势来提高脚螺丝放置的准确性. 新方法提高了手术规划,导致更好的临床结果和更少的并发症.

关键词:
脚螺丝路径规划 脚螺丝路径规划机器人手术是机器人手术的一种方式.脊椎形脊柱的脊柱是如何形成的脊柱内部固定 脊柱内部固定脊椎姿势检测 脊椎姿势检测

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科学领域:

  • 脊柱外科手术 脊柱外科手术
  • 机器人技术 机器人技术 机器人技术
  • 医疗成像医学成像

背景情况:

  • 机器人辅助的脚螺丝放置提供了潜在的好处,但需要精确的手术前规划.
  • 现有的方法往往忽略了解剖学变异,或者需要大量的手动输入.
  • 准确的脊椎姿势估计对于高质量的外科导航至关重要.

研究的目的:

  • 开发一种使用新型神经网络进行脚螺杆路径规划的改进方法.
  • 解决当前技术在处理脊椎解剖变异和人类互动方面的局限性.
  • 为了提高机器人辅助脚螺丝放置的准确性和成功率.

主要方法:

  • 提出了YOLOPOSE3D,一种增强的YOLO类型神经网络,用于估计脊椎姿势 (旋转四边形和3D坐标).
  • 优化了脊椎对预测的重叠,以改进姿势估计.
  • 通过多个投影建立了基于估计姿势的局部坐标系统,用于通过多个投影规划脚踏螺丝路径.

主要成果:

  • 在检测脊椎位置和姿势方面,YOLOPOSE3D实现了高精度,平均误差为1.55mm和2.55°.
  • 腰椎 (L1-L5) 的脚螺杆路径规划成功率达到了83.1%,超过了手动规划 (82.4%).
  • 几乎达到100%的成功率满足临床A类要求 (<2毫米偏离脚皮层).

结论:

  • 该YOLOPOSE3D方法准确地确定脊椎姿势,这对于手术规划至关重要.
  • 改进的姿势估计提高了机器人辅助脚螺丝放置的精度.
  • 这种方法在脊柱内部固定手术中承诺更好的临床结果.