| 神经外科手术机器人置入椎弓根螺钉的精准性 |
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| 引用本文： | 于贝贝,荆林凯,王,劲,王贵怀.神经外科手术机器人置入椎弓根螺钉的精准性[J].中国临床神经外科杂志,2021,26(5):360-362. |
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| 作者姓名： | 于贝贝 荆林凯 王 劲 王贵怀 |
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| 作者单位： | 100084 北京，清华大学临床医学院（于贝贝）；102218 北京，清华大学附属北京清华长庚医院神经外科（荆林凯、王 劲、王贵怀） |
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| 摘 要： | 目的 探讨神经外科手术机器人在人体腰椎模型进行椎弓根螺钉置入的精准性。方法 利用O型臂影像系统对模型进行正侧位扫描，并三维重建，获取3D-CT数据，传入手术机器人系统，规划椎弓根螺钉的最佳进钉点和进钉方向。手术机器人系统利用3D-CT数据自动注册后，置入椎弓根螺钉。应用置钉前后的3D融合图像，按照Gertzbein-Robbins分级评估置钉的准确性。结果 共置入39枚椎弓根螺钉，其中37枚螺钉完全位于椎弓根内，2枚螺钉突破椎弓根的内壁2 mm以内。螺钉与原规划钉道的平均偏移距离为（1.45±0.67）mm。螺钉在进钉点的滑移方向:内下方16枚（41.03%），外上方6枚（15.38%），下方6枚（15.38%），外下方5枚（12.82%），内上方4枚（10.26%），内方1枚（2.56%），上方1枚（2.56%）。结论 神经外科手术机器人置入椎弓根螺钉具有较高的精准性。
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| 关 键 词： | 脊柱手术 手术机器人 椎弓根螺钉 螺钉置入术 |
Accuracy of neurosurgical robot in pedicle screw placement |
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| YU Bei-bei,JING Lin-kai,WANG Jin,WANG Gui-huai..Accuracy of neurosurgical robot in pedicle screw placement[J].Chinese Journal of Clinical Neurosurgery,2021,26(5):360-362. |
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| Authors: | YU Bei-bei JING Lin-kai WANG Jin WANG Gui-huai |
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| Affiliation: | 1. School of Clinical Medicine, Tsinghua University, 100084 Beijing, China; 2. Department of Neurosurgery, Changgung Hospital, Clinical Institute for Neuroscience, Medical Center, Tsinghua University,Beijing 102218, China |
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| Abstract: | Objective To explore the accuracy of pedicle screw placement by neurosurgical robot in the human lumbar spine model. Methods The front- side-view scan and three-dimensional reconstruction of the human lumbar spine model was performed on the O-arm image system to obtain 3D-CT data which were input into the surgical robotic system to to plan the best insertion point and direction of pedicle screw placement. The surgical robotic system registered automatically using these 3D-CT data and then placed the pedicle screws. The accuracy of pedicle screw placement was evaluated according to the Gertzbein-Robbins classification by the 3D fused image before and after the placement. Results A number of 39 pedicle screws was placed by the surgical robotic system in this study. Of these 39 pedicle screws, 37 screws were completely located in the pedicle and 2 broke through the inner wall of the pedicle within 2 mm; 16 (41.03%) screws slided inward and downward at the entry point, 6 outward and upward, 6 downward, 5 outward and downward 4 inward and upward, 1 inward and 1 upward. The average deviation distance between the screw and the original planned path was (1.45±0.67) mm. Conclusions The neurosurgical robot has high precision in the pedicle screw placement. |
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| Keywords: | Spine surgery Surgical robot Pedicle screw placement Precision |
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