TY - JOUR
T1 - A Surgical Robotic System for Osteoporotic Hip Augmentation
T2 - System Development and Experimental Evaluation
AU - Bakhtiarinejad, Mahsan
AU - Gao, Cong
AU - Farvardin, Amirhossein
AU - Zhu, Gang
AU - Wang, Yu
AU - Oni, Julius K.
AU - Taylor, Russell H.
AU - Armand, Mehran
N1 - Funding Information:
This work was supported in part by the National Institute of Biomedical Imaging and Bioengineering (NIBIB) under Grant R01 EB023939, and in part by the National Institute of Arthritis and Musculoskeletal and Skin Diseases (NIAMS) of the National Institutes of Health (NIH) under Grant R21 AR063815.
Publisher Copyright:
© 2018 IEEE.
PY - 2023/2/1
Y1 - 2023/2/1
N2 - Minimally-invasive Osteoporotic Hip Augmentation (OHA) by injecting bone cement is a potential treatment option to reduce the risk of hip fracture. This treatment can significantly benefit from computer-assisted planning and execution system to optimize the pattern of cement injection. We present a novel robotic system for the execution of OHA that consists of a 6-DOF robotic arm and integrated drilling and injection component. The minimally-invasive procedure is performed by registering the robot and preoperative images to the surgical scene using multi-view image-based 2D/3D registration with no external fiducial attached to the body. The performance of the system is evaluated through experimental sawbone studies as well as cadaveric experiments with intact soft tissues. In the cadaver experiments, distance errors of 3.28 mm and 2.64 mm for entry and target points and orientation error of 2.30° are calculated. Moreover, the mean surface distance error of 2.13 mm with translational error of 4.47 mm is reported between injected and planned cement profiles. The experimental results demonstrate the first application of the proposed Robot-Assisted combined Drilling and Injection System (RADIS), incorporating biomechanical planning and intraoperative fiducial-less 2D/3D registration on human cadavers with intact soft tissues.
AB - Minimally-invasive Osteoporotic Hip Augmentation (OHA) by injecting bone cement is a potential treatment option to reduce the risk of hip fracture. This treatment can significantly benefit from computer-assisted planning and execution system to optimize the pattern of cement injection. We present a novel robotic system for the execution of OHA that consists of a 6-DOF robotic arm and integrated drilling and injection component. The minimally-invasive procedure is performed by registering the robot and preoperative images to the surgical scene using multi-view image-based 2D/3D registration with no external fiducial attached to the body. The performance of the system is evaluated through experimental sawbone studies as well as cadaveric experiments with intact soft tissues. In the cadaver experiments, distance errors of 3.28 mm and 2.64 mm for entry and target points and orientation error of 2.30° are calculated. Moreover, the mean surface distance error of 2.13 mm with translational error of 4.47 mm is reported between injected and planned cement profiles. The experimental results demonstrate the first application of the proposed Robot-Assisted combined Drilling and Injection System (RADIS), incorporating biomechanical planning and intraoperative fiducial-less 2D/3D registration on human cadavers with intact soft tissues.
KW - 2D/3D registration
KW - Osteoportic hip augmentation
KW - PMMA cement augmentation
KW - robot-assisted femoroplasty
KW - surgical planning
UR - http://www.scopus.com/inward/record.url?scp=85148425788&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85148425788&partnerID=8YFLogxK
U2 - 10.1109/TMRB.2023.3241589
DO - 10.1109/TMRB.2023.3241589
M3 - Article
AN - SCOPUS:85148425788
SN - 2576-3202
VL - 5
SP - 18
EP - 29
JO - IEEE Transactions on Medical Robotics and Bionics
JF - IEEE Transactions on Medical Robotics and Bionics
IS - 1
ER -