Design and Evaluation of a Robotic Drilling Screw End-Effector for Minimally Invasive Spine Surgery

摘要

Spinal surgery is a common treatment for various spinal conditions, such as scoliosis, herniated discs, spinal stenosis, fractures, tumors, deformities, instability, and cord injuries. However, challenges in precise drilling and screw implantation have spurred interest in less invasive methods with reduced human involvement. Robotic spine surgery offers increased accuracy, efficiency, and the potential for remote surgeries during situations like the COVID-19 pandemic. This study presents the design and evaluation of a drilling screwing end-effector (DSEE) to minimize human intervention in spinal surgery. The DSEE incorporates a specialized DC motor and gearbox for seamless transition between drilling and screwing modes. A YZC-133 load cell measures reaction force during bone drilling. Performance evaluation was conducted through laboratory and in vitro tests. A complete factorial design using a fresh calf femur bone specimen investigated influential parameters in bone drilling. Results highlight the significant impact of drill-bit diameter, feed rate, and drill spindle speed, consistent with previous research. In summary, this research contributes to spinal surgery by developing and evaluating a robotic drilling screw end-effector. By enhancing precision and reducing human involvement, this technology shows promise for diverse spinal conditions. Findings illuminate influential factors in bone drilling force, advancing minimally invasive surgical techniques for varied spinal pathologies.