Design and control strategy of robotic spinal surgical system

摘要

Spinal surgery has its specifications. Different from minimal invasive like laparoscope surgery, there is no complex operations such as sewing, cutting or clamping. It is more important for spinal surgery to locate precisely and to keep reliable during operation. Robotic spinal surgical system (RSSS) is designed upon these principles. Tracking and navigation system in RSSS ensures high positioning accuracy, and structure of robot guarantees the safety and reliability of RSSS. Moreover, with new implements in surgery, procedure of surgery must be redesigned. In this paper, we discuss a new robotic surgical system for spinal surgery, including a complete system with tracing system, navigation system, robot. Relative kinematics, control strategy are discussed and a new procedure of surgery is designed with RSSS.