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This paper presents a new approach to robot-assisted spine and trauma surgery in which a miniature robot is directly mounted on the patient’s bony structure near the surgical site. The robot is designed to operate in a semiactive mode to precisely position and orient a drill or a needle in various surgical procedures. Since the robot forms a single rigid(More)
This paper describes a novel image-guided system for precise automatic targeting in minimally invasive keyhole neurosurgery. The system consists of the MARS miniature robot fitted with a mechanical guide for needle, probe or catheter insertion. Intraoperatively, the robot is directly affixed to a head clamp or to the patient's skull. It automatically(More)
After several years of product development, animal trials and human cadaver testing, the SpineAssist--a miniature bone-mounted robotic system--has recently entered clinical use. To the best of the authors' knowledge, this is the only available image-based mechanical guidance system that enables pedicle screw insertion with an overall accuracy in the range(More)
This paper is part of an ongoing effort to develop a novel image-guided system for precise automatic targeting in keyhole minimally invasive neurosurgery. The system consists of a miniature robot fitted with a mechanical guide for needle/probe insertion. Intraoperatively, the robot is directly affixed to a head clamp or to the patient skull. It(More)
for Computer Assisted Surgery Journal This paper presents a validation method implemented in pedicle screw insertion for spinal fusion procedures, utilizing a miniature robotic system. In an instrumented dry bone spine, the entire process was examined from planning through registration to robot positioning. Comparing the resulting screw position to the(More)
Several oro-facial physiologic and pathologic phenomena affect individuals during flight or self-contained underwater breathing apparatus (SCUBA) diving. Physicians and dentists who treat aircrews and divers are occasionally challenged by those manifestations, though their uncommon appearance. This article reviews the two main barometric-related phenomena(More)
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