Li Zhuofu, Yu Guoxin, Jiang Shuai, Hu Lei, Li Weishi
Department of Orthopaedics, Peking University Third Hospital, Haidian, Beijing, China.
Beijing Key Laboratory of Spinal Disease Research, Haidan, Beijing, China.
Ann Transl Med. 2021 Apr;9(8):715. doi: 10.21037/atm-20-5270.
This study aimed to summarize the current progress in the field of robot-assisted laminectomy in spinal surgery. A systematic search of the Institute of Electrical and Electronics Engineers (IEEE) Xplore, PubMed, Embase, Web of science, The Cochrane Library, Wanfang Data, China National Knowledge Infrastructure (CNKI), and Chinese Biomedicine Literature Database (CBM-SinoMed) was performed for papers related to robotic-assisted laminectomy. A total of 27 articles were selected for inclusion in our study. Among the articles, 10 robotic system, 2 bone cutting strategies, 6 state recognition strategies were founded. The most commonly adopted type of robot system was the Nathoo A type (6/10). Bone cutting strategies were mainly formulated based on force information and medical image information, and state recognition was based on a variety of factors, including force, sound, vibration, medical images, current or a combination of parameters. Early research on robot-assisted laminectomy did not reflect good continuity, and the studies mainly focused on the type of robotic system. In recent years, more researchers have chosen the Nathoo A as the robot system type, and the focus of research has gradually shifted to laminectomy path planning and safety control strategies, such as state recognition. Although these studies have been able to perform laminectomy without penetrating the inner cortex of the lamina, most experiments have been performed in vitro, and clinical application is still untested.
本研究旨在总结脊柱外科机器人辅助椎板切除术领域的当前进展。对电气和电子工程师协会（IEEE）Xplore、PubMed、Embase、科学网、考克兰图书馆、万方数据、中国知网和中国生物医学文献数据库（CBM-SinoMed）进行了系统检索，以查找与机器人辅助椎板切除术相关的论文。共筛选出27篇文章纳入本研究。在这些文章中，发现了10种机器人系统、2种截骨策略、6种状态识别策略。最常采用的机器人系统类型是Nathoo A型（6/10）。截骨策略主要基于力信息和医学图像信息制定，状态识别基于多种因素，包括力、声音、振动、医学图像、电流或参数组合。早期关于机器人辅助椎板切除术的研究没有体现出良好的连续性，研究主要集中在机器人系统类型上。近年来，越来越多的研究人员选择Nathoo A作为机器人系统类型，研究重点逐渐转向椎板切除术路径规划和安全控制策略，如状态识别。尽管这些研究已经能够在不穿透椎板内皮质的情况下进行椎板切除术，但大多数实验是在体外进行的，临床应用仍未得到验证。
