Published October 10, 2021
| Version v2
Conference paper
Open
Robot-assisted Procedure for Pedicle Screw Fixation
Description
The objective of this paper is to propose a new ap-
proach to robot-aided pedicle screw fixation based on a Surgeon-
Robot Shared control that makes the tapping procedure, i.e.
threading the patient's pedicle, semi-autonomous. The surgeon
has a full control over the surgical intervention that appears more
comfortable and less tiring. Tests, aimed at assessing surgeon
postures during the procedure, were carried out on eight subjects
performing the tapping operation onto a spine phantom.