title: Robotic assisted spinal surgery--from concept to clinical practice.
abstract: After several years of product development, animal trials and human cadaver testing, the SpineAssist--a miniature bone-mounted robotic system--has recently entered clinical use. To the best of the authors' knowledge, this is the only available image-based mechanical guidance system that enables pedicle screw insertion with an overall accuracy in the range of 1 mm in both open and minimally invasive procedures. In this paper, we describe the development and clinical trial process that has brought the SpineAssist to its current state, with an emphasis on the various difficulties encountered along the way and the corresponding solutions. All aspects of product development are discussed, including mechanical design, CT-to-fluoroscopy image registration, and surgical techniques. Finally, we describe a series of preclinical trials with human cadavers, as well as clinical use, which verify the system's accuracy and efficacy.
authors.affiliation: Department of Mechanical Engineering, Technion - Israel Institute of Technology, Haifa, Israel. shoham@tx.technion.ac.il
authors.forename: M
authors.initials: M
authors.lastname: Shoham
authors.forename: I H
authors.initials: IH
authors.lastname: Lieberman
authors.forename: E C
authors.initials: EC
authors.lastname: Benzel
authors.forename: D
authors.initials: D
authors.lastname: Togawa
authors.forename: E
authors.initials: E
authors.lastname: Zehavi
authors.forename: B
authors.initials: B
authors.lastname: Zilberstein
authors.forename: M
authors.initials: M
authors.lastname: Roffman
authors.forename: A
authors.initials: A
authors.lastname: Bruskin
authors.forename: A
authors.initials: A
authors.lastname: Fridlander
authors.forename: L
authors.initials: L
authors.lastname: Joskowicz
authors.forename: S
authors.initials: S
authors.lastname: Brink-Danan
authors.forename: N
authors.initials: N
authors.lastname: Knoller
mesh_terms: D000818:Animals; D001698:Biomedical Engineering; D001863:Bone Screws; D002102:Cadaver; D004867:Equipment Design; D005471:Fluoroscopy; D006801:Humans; D007091:Image Processing, Computer-Assisted / Q000379:methods; D008904:Miniaturization; D019060:Minimally Invasive Surgical Procedures; D023421:Models, Animal; D010347:Patient Care Planning; D012371:Robotics; D013122:Spinal Diseases / Q000601:surgery; D013123:Spinal Fusion / Q000295:instrumentation / Q000379:methods*; D013131:Spine / Q000601:surgery; D025321:Surgery, Computer-Assisted; D014057:Tomography, X-Ray Computed