Building and analyzing of an active robot-assisted surgical navigation for cervical vertebra bone grinding in spine surgery

摘要

© 2018 AMSE Press. All rights reserved.Surgical navigation has emerged as a potential solution to improve accuracy and security of intraoperative surgery. This paper introduces surgical navigation technologies into cervical vertebra bone grinding in spine surgery to guide a bone-grinding robot. Firstly, an active robot-assisted surgical navigation system based on optical positioning for cervical vertebra bone grinding is created, and the space registration coordinate system among "image-patient-robot" is also established. Secondly, space registration among "image-patient-robot" is studied. Here, intraoperative registration between image and patient is achieved by ICP improved algorithm based on coordinate system direction fitting, and space transformation between patient and robot is established by using an optical locator based on planimetric method. At last, the navigating and positioning precision of robot-assisted spine surgery is analyzed by performing positioning and tracking experiments and the influencing factors for surgical navigation errors are also analyzed. The experiment results show that the active surgical navigation system can achieve positioning and tracking of bone-grinding robot feasibly and rationally.