脊柱机器人椎弓根钻孔过程中利用电导率进行离体突破检测

中文摘要 AI 辅助

目的：椎弓根螺钉置入在脊柱侧弯治疗中技术要求高。由于视野受限、解剖变异及并发症风险，需要高精度。尽管机器人系统辅助基于CT的规划和执行，但仍依赖电离辐射的术中成像和复杂的配准。本研究提出采用电阻抗传感的机器人椎弓根钻孔，实现实时预防性突破检测。方法：我们开发了一种机器人方法，结合了由SpineGuard开发的自体感受电阻抗传感器的椎弓根钻孔工具。设计了一种实时检测算法，在钻孔过程中分析电阻抗信号，识别与可能向椎管突破相关的电导率突变。该方法无需外部设备或传感器。结果：离体实验表明，所提方法在51例钻孔中预防了100次突破。这些发现证明了系统在钻孔过程中检测潜在危险事件并在之前停止手术的能力。离体实验证明，所提方法在所有51例钻孔中均预防了突破。结论：本工作证明了利用电阻抗传感的机器人椎弓根钻孔用于实时突破预防的可行性。仅使用工具信号，该方法消除了对外部传感系统的需求，并支持更安全的椎弓根螺钉置入。

英文摘要

Purpose: Pedicle screw placement is technically demanding in scoliosis treatment. High precision is required due to limited visibility, anatomical variability, and the risk of complications. Although robotic systems assist CT-based planning and execution, they still rely on ionizing intraoperative imaging and complex registration. This study proposes robotic pedicle drilling with real-time preventive breach detection using electrical bioimpedance sensing. Methods: We developed a robotic approach combined with a pedicle-drilling tool equipped with a proprioceptive electrical bioimpedance sensor developed by SpineGuard. A real-time detection algorithm was designed to analyze the electrical bioimpedance signal during drilling and identify abrupt changes in conductivity associated with potential breaches towards the spinal canal. The method operates without external devices or sensors. Results: The ex vivo experiments showed that the proposed method prevented breaches in 100 of the 51 drilling cases. These findings demonstrate the system's ability to detect potentially hazardous events during drilling and to stop the procedure before. The ex vivo experiments demonstrated that the proposed method prevented breaches in all 51 drilling cases. Conclusions: This work demonstrates the feasibility of robotic pedicle drilling with electrical bioimpedance sensing for real-time breach prevention. Using only the tool signal, the method eliminates the need for external sensing systems and supports safer pedicle screw placement.

发表机构

• ISIR, Sorbonne Université, CNRS UMR 7222, Inserm U1150（ISIR，索邦大学，CNRS UMR 7222，Inserm U1150）
• SpineGuard SA（SpineGuard公司）
• LIB, Sorbonne Université, CNRS UMR 7371, Inserm U1146（LIB，索邦大学，CNRS UMR 7371，Inserm U1146）

机构由 AI 辅助整理，请以论文原文为准。