Development of a medical robot system for pedicle screw surgery assisted by fluoroscopic X-ray image

摘要

Converging robot technology into medical applications allowed surgeons to achieve accurate and enhanced surgical results. In laparoscopic surgery, da Vinci system consisting of master and slave robot system allows to perform operation more precisely. In fluoroscopic surgery, C-arm systems are widely used to monitor status of patient instantly during the operation. However, one of the drawbacks of the C-arm system is that surgeons are consistently exposed to X-ray radiation. This radiation exposure can be harmful to surgeons having hundreds of surgeries a year. In this paper, a system consisting of master-slave robot, imaging robot and operation bed for pedicle screw surgery is proposed. Also, its control hardware architecture and algorithm are proposed. Proposed system is validated via simulation environment.