Figure 1.
Architecture of the robotic spine-assisted surgery system.
Figure 2.
State recognition algorithm.
Figure 3.
The control algorithm by the coordinated image and force information.
Figure 4.
The procedure of screw insertion operation with the RSSS.
Figure 5.
Experimental setup with a sheep spine.
Figure 6.
Postoperative computer tomography scans indicating the results of the sheep vertebrae study for the safety analysis.
Figure 7.
Screw position accuracy measurements as determined on postoperative CT scans.
A, Planned merged over actual placement. B, Comparison between the panned and inserted screw at the entry point and angles.
Table 1.
The accuracy and error analysis of the experiments.
Figure 8.
The representative force signal maps of the experiments.
A, the initial state, (first cortical bone remains untouched); B, the first cortical state (an obvious peak); C, the cancellous state (a low force level) and D, the second cortical state (the force signal began to increase).
Figure 9.
Deliberately incorrectly planned trajectory.
When the drill touched the second cortical bone, there was an obvious peak in the force signal, and the robot spontaneously stopped drilling.