A Robot-Assisted Surgery Positioning Method for Artificial Cervical Disc Replacement

Abstract

Robotic–assisted surgery is a new trend in medicine. To overcome problems in artificial cervical disc replacement surgery, a robot-assisted surgery system which consists of an active 6-UPS parallel robot and its control system, a surgical planning system and an optical tracking system was developed to replace the cumbersome mechanical positioning device. A positioning method for robot-assisted cervical disc replacement surgery will be studied. Firstly, the robot-assisted surgery system is described. Secondly, the coordinate transformation method for robot-assisted surgery positioning is given. Then, a preoperative position and pose planning method is given. Finally, a robot-assisted surgery positioning by using the method in this paper is carried out. The result shows that the robot-assisted surgery positioning method in this paper is an effective method for artificial cervical disc replacement surgery.