Neurospine.
2024 Mar;21(1):97-103. 10.14245/ns.2347164.582.
Advancements and Challenges in Robot-Assisted Bone Processing in Neurosurgical Procedures
- Affiliations
-
- 1Departments by Donation Developed Studies for Advanced Robotic Surgery, Hamamatsu University School of Medicine, Hamamatsu, Japan
- 2Department of Mechanical Engineering, Shizuoka University, Hamamatsu, Japan
- 3Medical Technology Innovation Center, Juntendo University, Tokyo, Japan
- 4Department of Neurosurgery, Fujita Medical University, Toyoake, Japan
- 5Spine Center, Fuji Toranomon Orthopedic Surgery Hospital, Gotenba, Japan
- KMID: 2553910
- DOI: http://doi.org/10.14245/ns.2347164.582
Abstract
Objective
Practical applications of nerve decompression using neurosurgical robots remain unexplored. Our ongoing research and development initiatives, utilizing industrial robots, aim to establish a secure and efficient neurosurgical robotic system. The principal objective of this study was to automate bone grinding, which is a pivotal component of neurosurgical procedures.
Methods
To achieve this goal, we integrated an endoscope system into a manipulator and conducted precision bone machining using a neurosurgical drill, recording the grinding resistance values across 3 axes. Our study encompassed 2 core tasks: linear grinding, such as laminectomy, and cylindrical grinding, such as foraminotomy, with each task yielding unique measurement data.
Results
In linear grinding, we observed a proportional increase in grinding resistance values in the machining direction with acceleration. This observation suggests that 3-axis resistance measurements are a valuable tool for gauging and predicting deep cortical penetration. However, problems occurred in cylindrical grinding, and a significant error of 10% was detected. The analysis revealed that multiple factors, including the tool tip efficiency, machining speed, teaching methods, and deflection in the robot arm and jig joints, contributed to this error.
Conclusion
We successfully measured the resistance exerted on the tool tip during bone machining with a robotic arm across 3 axes. The resistance ranged from 3 to 8 Nm, with the measurement conducted at a processing speed approximately twice that of manual surgery performed by a surgeon. During the simulation of foraminotomy under endoscopic grinding conditions, we encountered a -10% error margin.
- Full Text Links
-
- Actions
-
Cited
- CITED
-
- Close
- Share
-
- Similar articles
-
- Expanding the Scope of Robotic Spinal Surgery With Bone Decompression: Commentary on “Advancements and Challenges in Robot-Assisted Bone Processing in Neurosurgical Procedures”
- A Review of Robot-Assisted Gait Training in Stroke Patients
- The Effects of Robot-Assisted Rehabilitation on the Gait Ability of Stroke Patients with Hemiplegia: A Mixed Methods Research Study
- On the structure of the macro-micro neurosurgical robots in stereotactic surgery
- Robot-Assisted Thoracic Surgery in Non-small Cell Lung Cancer
