Development and Accuracy Test of a Robot-arm Type Image-guided Surgery System for Percutaneous Screw Fixation of the Sacro-iliac Joint

PURPOSE: To develop a robot-arm type image-guided surgery system for percuatneous screw fixation of the sacro-iliac joint and to evaluate its accuracy. MATERIALS AND METHODS: We have developed an image-guided surgery system using a three-dimensional digitizer (Microscribe 3-D G2, Immersion, USA) and a personal computer. The registration error and target localization error at fiducial registration were measured 30 times for each using a phantom made with plastic pelvic bone model (Sawbones, USA). Sixteen 6.5 mm cannulated screws were inserted into four plastic bone models, and the accuracy was evaluated. RESULTS: The target localization error was 1.46+/-0.47 mm while the registration error was 0.73+/-0.23 mm. All of the 16 screws were inserted well across the sacro-iliac joint, and there was neither cortical breach nor collision between screws or washers. CONCLUSION: The accuracy of the developed system was similar to that of optical tracker-based navigation systems, and its helpfulness and usefulness was proven with simulation surgery using plastic bone models.

Development of an Intra-operative Navigation System Using an Optical Tracking System / 대한정형외과연구학회지

PURPOSE: The purposes of this study were to develop an intraoperative navigation system as the first step toward image-guided surgery and robotic surgery, and to evaluate its accuracy. MATERIALS AND METHODS: The navigation system was composed of an optical tracking system (Polaris, Northern Digital) and a personal computer. The registration error and target localization error of fiducial registration and surface registration were measured using a phantom. Each of the errors was measured 30 times, and the average values and the standard deviations were calculated. RESULTS: The registration error was 0.84 +/- 0.28 mm at fiducial registration and 0.81 +/- 0.21 mm at surface registration. The target localization error was 1.54 +/- 0.34 mm at fiducial registration and 1.46 +/- 0.32 mm at surface registration. CONCLUSION: We have developed an intraoperative navigation system using an optical tracker, and could assure ourselves that its accuracy is adequate for many orthopaedic surgeries. However, it still requires improvement in the accuracy and development of specific software and instruments for various operations.