Abstract
Due to the urgent need for high precision surgical equipment for minimally invasive spinal surgery, a novel robot-assistant system was developed for the accurate placement of pedicle screws in lumbar spinal surgeries. The structure of the robot was based on a macro-micro mechanism, which includes a serial mechanism (macro part) and a bi-planar 5R parallel mechanism (micro part). The macro part was used to achieve a large workspace, while the micro part was used to obtain high stiffness and accuracy. Based on the transfer function of dimension errors, the factors affecting the accuracy of the end effectors were analyzed. Then the manufacturing errors and joint angle error on the position-stance of the end effectors were investigated. Eventually, the mechanism of the strain energy produced by the deformation of linkage via forced assembly and displacements of the output point were calculated. The amount of the transfer errors was quantitatively analyzed by the simulation. Experimental tests show that the error of the bi-planar 5R mechanism can be controlled no more than 1 mm for translation and 1° for rotation, which satisfies the required absolute position accuracy of the robot.
Highlights
IntroductionSurgeons inevitably experience fatigue during traditional tedious surgical procedures, and this fatigue and hand tremors can give rise to a high accident rate, even for the experienced surgeons [1,2,3,4]
In the placement of pedicle screws, the screw is implanted in a narrow path as shown in
RoboDoc is an integrated Surgical Robot Systems approved by the Food and Drug Administration (FDA) [5,6]
Summary
Surgeons inevitably experience fatigue during traditional tedious surgical procedures, and this fatigue and hand tremors can give rise to a high accident rate, even for the experienced surgeons [1,2,3,4]. To deal with these issues, computer-assistant surgery devices, a huge shift in clinical operations, have been developed in recent years. A new type of pedicle screw robot system [8], developed by Shenzhen. Institutes of Advanced Technology, contains a 5-degrees of freedom (dof) mechanical arm and a bone screw implanting device.
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