Navigation method based on densitometric data of bone tissue for transpedicular fixation with the medical robot

This paper presents a new navigation method based on densitometric data of bone tissue for transpedicular fixation with the medical robot. Modern medical robots provide the surgeon with the opportunity to plan operations based only on data on the geometric parameters of bone tissue and screws, and their visualization. The presented method involves analyzing the density of tissues that will be affected by the medical robot when planning a route. Due to this, it becomes possible to build an input route that will not damage the bone structure and will not affect critical tissues. A volumetric geometric primitive of a cylinder for route planning and visualization software were compiled. Experimental studies have been conducted on planning the input route of a transpedicular screw installed on the working element of a medical robot in a volumetric voxel model of the patient’s body, based on computed tomography data from a patient. The presented method of navigation of a medical robot based on densitometric data of bone tissue for performing transpedicular fixation operations was compared with methods based on geometric parameters of bone tissue and screw parameters. As a result, it was possible to increase the average density of tissues affected by the planned route, which should lead to increased stabilization of the transpedicular screw during exploitation.
EDN: CRRSYO, https://elibrary/crrsyo

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