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Image Guided robotic surgery - Coggle Diagram
Image Guided robotic surgery
Workflow
CARM to 3D planning : Software
Registration
Robot-camera
Image
2d2d,2d3d,point,surface
Navigation
Robot functionalities
Kinematics (GD parameter identification)
Parameter Identification
Path planning
Collision Avoidance
Path -> Trajectory profiling
Pose correction (Which IK to use, how to modify for the clinical plans)
Convience + Camera + Insert pedicle from one side
D space docking
End effector calibration
Surface levelling
FARO based method (Plug and play) : Validation
Clinical Validation
Cadaver setup (Detailing)
Validation : Gertzbein Scale
Entry point
Angulation
https://www.researchgate.net/publication/341157318_Feasibility_and_accuracy_of_a_robotic_guidance_system_for_navigated_spine_surgery_in_a_hybrid_operating_room_a_cadaver_study
Existing results
In-house validation
Robot accuracy
Phantom validation?? (need to verify with CT)
Graph based models as if now
System accuracy
Design of phantom
Design of workflow
Results and discussion
TIme taken each procedure
Robot time complexity
Deflection in final pedicle screw placement
May be adaptive force control ???
Analysis on phantom vs cadaver setup