On the Feasibility of Continuum Dexterous Manipulators for Improving Minimally Invasive Spinal Fusion

5 pages•Published: December 17, 2024

Justin H. Ma, Suxi Gu, Amit Jain, Russell H. Taylor and Mehran Armand

Abstract

Continuum dexterous manipulators (CDMs) have shown great potential when inte- grated with computer assisted orthopaedic surgery (CAOS) systems for minimally invasive surgery (MIS). We hypothesize that the enhanced dexterity of CDMs may allow for greater access to target tissue through a single port when compared to traditional, rigid MIS in- struments. To assess such CDMs for intervertebral disc removal applications, a phantom study in the scope of MIS transforaminal lumbar interbody fusion (TLIF) was conducted to evaluate the achievable surgical workspace of the intervertebral disc (IVD) during disc space preparation. A CDM with 6 mm diameter and a conformable nitinol whisk tip was evaluated against three 135° lumbar curettes in a 2D L4-L5 IVD phantom by an ex- perienced spine surgeon. Improvements of up to 41.7% in reachable IVD workspace are achieved with the CDM, demonstrating its viability in improving outcomes for MIS spinal fusion.

Keyphrases: continuum manipulators, mechatronics, minimally invasive surgery, surgical robotics

In: Joshua W Giles and Aziliz Guezou-Philippe (editors). Proceedings of The 24th Annual Meeting of the International Society for Computer Assisted Orthopaedic Surgery, vol 7, pages 150-154.

Links:	https://easychair.org/publications/paper/GQbS
	https://doi.org/10.29007/l43g

BibTeX entry

@inproceedings{CAOS2024:Feasibility_Continuum_Dexterous_Manipulators,
  author    = {Justin H. Ma and Suxi Gu and Amit Jain and Russell H. Taylor and Mehran Armand},
  title     = {On the Feasibility of Continuum Dexterous Manipulators for Improving Minimally Invasive Spinal Fusion},
  booktitle = {Proceedings of The 24th Annual Meeting of the International Society for Computer Assisted Orthopaedic Surgery},
  editor    = {Joshua W Giles and Aziliz Guezou-Philippe},
  series    = {EPiC Series in Health Sciences},
  volume    = {7},
  publisher = {EasyChair},
  bibsource = {EasyChair, https://easychair.org},
  issn      = {2398-5305},
  url       = {/publications/paper/GQbS},
  doi       = {10.29007/l43g},
  pages     = {150-154},
  year      = {2024}}

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