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A Spine Robotic-Assisted Navigation System for Pedicle Screw Placement06:24

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This article presents a standardized surgical technique for robotic-assisted pedicle screw placement by using robotic-assisted navigational systems. We present a step-by-step protocol and describe the workflow and precautions of this...
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This protocol presents robot-assisted stereo electroencephalography (sEEG), a method for the stereotactic implantation of intracerebral electrodes used for invasive seizure monitoring in patients with refractory epilepsy. Techniques incorporating stereotactic robotic guidance for sEEG are safe and precise and may improve surgical efficiency, especially when implanting greater numbers of...
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This article introduces a method of robot-assisted orthopedic surgery for screw placement during the treatment of femoral neck fracture using the femoral neck system, which allows for more accurate screw placement, improved surgical efficiency, and fewer...
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相关实验视频

Updated: Jan 20, 2026

A Spine Robotic-Assisted Navigation System for Pedicle Screw Placement
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一个指导采样增强的快速探索随机树路径规划算法,用于机器人辅助的灵活针插入.

Jiale Zhang1, Shan Jiang2, Zhiyong Yang1

  • 1Mechanical Engineering Department, Tianjin University, No. 92, Weijin Road, Nankai District, Tianjin, China.

Annals of biomedical engineering
|January 19, 2026
PubMed
概括

本研究介绍了一种先进的路径规划算法,用于机器人辅助的柔性针头插入. 改进的方法在复杂的解剖环境中提高了准确性和效率,显示出临床应用的前景.

关键词:
有弹性的针头.有指导的抽样采集.路径规划 路径规划 路径规划通过皮肤进行的手术.机器人辅助插入方式

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 医疗工程 医学工程
  • 计算机科学 计算机科学

背景情况:

  • 皮穿刺在临床干预治疗中至关重要.
  • 机器人辅助的柔性针头插入面临着由于组织相互作用和复杂解剖学的挑战.

研究的目的:

  • 开发一种改进的路径规划算法,用于机器人辅助的柔性针头插入.
  • 为了提高针头插入复杂解剖结构的准确性和效率.

主要方法:

  • 开发了一个改进的快速探索随机树 (RRT) 路径规划算法.
  • 软行为体关键 (SAC) 引导采样被整合起来以优化路径规划.
  • 混合采样策略平衡了全球勘探和当地开采.
  • 一个导航和定位机器人被用于自主针引导.

主要成果:

  • 该算法显著减少了搜索随机性和无效节点.
  • 改善了路径质量和规划效率.
  • 在仿生组织中的实验显示了0.97±0.41mm的低插入误差.

结论:

  • 拟议的算法增强了复杂解剖学中的机器人辅助柔性针插入.
  • 该系统由于其准确性和自主性,具有很强的临床翻译潜力.