Cadaver study for spinal fusion surgery using an i

Authors: Jaeheon Chung Sungmin Kim ByungJu Yi Young Soo Kim

Publish Date: 2010/06/05

Volume: 8, Issue: 3, Pages: 564-573

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Abstract

We present a novel surgical robotic system for spinal fusion that includes a computerbased planning algorithm Otype biplanar fluoroscopy and a surgical robot The planning system determines a surgical path based on fluoroscopy images or a 3D image reconstructed using preoperative CT data The robot guides the surgical path that the surgeon generates with the planning system In this cadaver study we tested the performance of the robotic system in the treatment of eight lumbar vertebrae by comparing CT images recorded before and after surgeryJaeheon Chung received his BS degree from the Department of Control and Instrumentation Engineering Chosun University in 1998 and his MS and PhD degree from the Department of Electronics Electrical Control and Instrumentation Engineering Hanyang University in 2003 and 2009 respectively From March 2009 to October 2009 he was a PostDoctoral Fellow with HumanRobotics Lab Hanyang University Currently he is a PostDoctoral Fellow with the Department of Advanced Medical Initiatives Faculty of Medical Sciences Kyushu University in Japan His research interests include kinematic and dynamic modeling of hybrid mechanism parallel manipulator design and control of surgical robot MRcompatible robotic system kinematic calibration and multiple impact modelingByungJu Yi received his BS degree from the Department of Mechanical Engineering Hanyang University Seoul Korea in 1984 and his MS and PhD degrees from the Department of Mechanical Engineering University of Texas at Austin in 1986 and 1991 respectively From January 1991 to August 1992 he was a PostDoctoral Fellow with the Robotics Group University of Texas at Austin From September 1992 to February 1995 he was an Assistant Professor in the Department of Mechanical and Control Engineering Korea Institute of Technology and Education KITE Chonan Chungnam Korea In March 1995 he joined Hanyang University Ansan Gyeonggido Korea as an Assistant Professor in the Department of Control and Instrumentation Engineering Currently he is a Professor with the School of Electrical Engineering and Computer Science Hanyang University He stayed at Johns Hopkins University as a visiting professor from January 2004 to January 2005 His research interests include design control and application of surgical robot parallel manipulator micromanipulator haptic device and anthropomorphic manipulator systemsSungmin Kim received his BS degree from the Department of Mechanical Engineering Hanyang University Seoul Korea in 2003 and his MS degree from the Department of Biomedical Engineering Hanyang University in 2005 From February 2009 to February 2010 he joined the Department of Advanced Medical Initiatives Faculty of Medical Sciences Kyushu University Fukuoka Japan as visiting researcher He is currently working toward a PhD degree at Hanyang University His research interests include medical image analysis surgical planning system medical robotics and minimally invasive surgeryYoung Soo Kim received his BS and the MS and PhD degrees from School of Medicine Yonsei University Seoul Korea in 1982 1990 and 1995 respectively He got the Boardmanship of Neurosurgery in 1987 In 1992 he joined Hanyang University Seoul Korea as an instructor in the Department of Neurosurgery From February 1996 to January 1997 he was a Visiting Assistant Professor in the Department of Neurosurgery UPMC USA Currently he is a Director of Center for Intelligent Surgery System CISS supported by National Ministry of Health and Welfare and Professor of the Department of Neurosurgery Hanyang University His research interests include minimally invasive surgery medical robotics and medical imaging

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