Paper Info
Title
Robot-Assisted Decompressive Laminectomy Planning Based on 3D Medical Image
Abstract
The decompressive laminectomy is a common treatment for lumbar spinal stenosis. Generally, surgeons use grinding tools to remove laminae under the guidance of intraoperative medical images. To improve accuracy and reduce surgeons' burdens, robot-assisted surgery is gaining acceptance. This paper proposes a method to plan grinding paths and velocities based on 3-D medical images in the context of robot-assisted decompressive laminectomies. As the lesion areas to be grinded are irregular, an interactive method with 3-D reconstruction is designed for surgeons to transfer discrete information about grinding paths and velocities to the robot system. The path generation strategy is based on a ray casting algorithm after space registrations, while the velocity generation strategy is based on the virtual force and mechanical analysis is used to optimize temporal efficiency and stability. A complete system is developed to test and explore the feasibility of this method. Results suggest that robot-assisted decompressive laminectomies can be performed well.
Year
DOI
Venue
2018
10.1109/ACCESS.2018.2828641
IEEE ACCESS
Keywords
Field
DocType
Surgical robot,decompressive laminectomy,3D image interaction,path planning,image driven velocity
Iterative reconstruction,Computer vision,Robotic systems,Lumbar spinal stenosis,Medical imaging,Computer science,Ray casting,Artificial intelligence,Robot,Grinding,Laminectomy,Distributed computing
Journal
Volume
ISSN
Citations 
6
2169-3536
0
PageRank 
References 
Authors
0.34
0
6
Name
Order
Citations
PageRank
Yu Sun186.32
Jiang Zhongliang223.08
Qi Xiaozhi335.48
Ying Hu43822.62
Li Bing55221.40
Zhang Jianwei643.27