Automated surgical planning and evaluation algorithm for spinal fusion surgery with three-dimensional pedicle model

Jongwon Lee, Sungmin Kim, Young Soo Kim, Wan Kyun Chung, Minjun Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

In this paper, an advanced preoperative planning framework for spinal fusion is presented. The framework is based on spinal pedicle data obtained from computed tomography (CT) images, and provides optimal insertion trajectories and pedicle screw sizes. The proposed approach begins with a safety margin estimation for each potential insertion trajectory that passes through the pedicle volume, followed by procedures to collect a set of insertion trajectories that satisfy operation safety objectives. Among the trajectory candidates, the insertion trajectory, which maximizes the insertable depth of a pedicle screw into the vertebral body, is then chosen as optimal, because the insertable depth enhances the strength of the transpedicular screw-vertebra interface after spinal fusion surgery. The radius of a pedicle screw was chosen as 70% of the pedicle radius. This framework has been tested on 68 spinal pedicles of 8 patients requiring spinal fusion. It was successfully applied, resulting in an average success rate of 100% and a final safety margin of 2.11±0.17mm.

Original languageEnglish
Title of host publicationIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationCelebrating 50 Years of Robotics
Pages2524-2531
Number of pages8
DOIs
StatePublished - 2011 Dec 29
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: 2011 Sep 252011 Sep 30

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
CountryUnited States
CitySan Francisco, CA
Period11/09/2511/09/30

Fingerprint

Surgery
Fusion reactions
Trajectories
Planning
Tomography

Cite this

Lee, J., Kim, S., Kim, Y. S., Chung, W. K., & Kim, M. (2011). Automated surgical planning and evaluation algorithm for spinal fusion surgery with three-dimensional pedicle model. In IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics (pp. 2524-2531). [6048289] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2011.6048289
Lee, Jongwon ; Kim, Sungmin ; Kim, Young Soo ; Chung, Wan Kyun ; Kim, Minjun. / Automated surgical planning and evaluation algorithm for spinal fusion surgery with three-dimensional pedicle model. IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. 2011. pp. 2524-2531 (IEEE International Conference on Intelligent Robots and Systems).
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abstract = "In this paper, an advanced preoperative planning framework for spinal fusion is presented. The framework is based on spinal pedicle data obtained from computed tomography (CT) images, and provides optimal insertion trajectories and pedicle screw sizes. The proposed approach begins with a safety margin estimation for each potential insertion trajectory that passes through the pedicle volume, followed by procedures to collect a set of insertion trajectories that satisfy operation safety objectives. Among the trajectory candidates, the insertion trajectory, which maximizes the insertable depth of a pedicle screw into the vertebral body, is then chosen as optimal, because the insertable depth enhances the strength of the transpedicular screw-vertebra interface after spinal fusion surgery. The radius of a pedicle screw was chosen as 70{\%} of the pedicle radius. This framework has been tested on 68 spinal pedicles of 8 patients requiring spinal fusion. It was successfully applied, resulting in an average success rate of 100{\%} and a final safety margin of 2.11±0.17mm.",
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Lee, J, Kim, S, Kim, YS, Chung, WK & Kim, M 2011, Automated surgical planning and evaluation algorithm for spinal fusion surgery with three-dimensional pedicle model. in IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics., 6048289, IEEE International Conference on Intelligent Robots and Systems, pp. 2524-2531, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11, San Francisco, CA, United States, 11/09/25. https://doi.org/10.1109/IROS.2011.6048289

Automated surgical planning and evaluation algorithm for spinal fusion surgery with three-dimensional pedicle model. / Lee, Jongwon; Kim, Sungmin; Kim, Young Soo; Chung, Wan Kyun; Kim, Minjun.

IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. 2011. p. 2524-2531 6048289 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Lee J, Kim S, Kim YS, Chung WK, Kim M. Automated surgical planning and evaluation algorithm for spinal fusion surgery with three-dimensional pedicle model. In IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. 2011. p. 2524-2531. 6048289. (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2011.6048289