椎弓根螺钉自动规划系统在机器人辅助腰椎椎弓根螺钉内固定术中的应用

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中图分类号 R681.5 TP242 文献标识码 A 文章编号 2096-7721（2025）08-1282-06

Application of automated pedicle screw planning system in robot-assisted lumbarpediclescrewfixation

CAO Zhiwei1，ZHU Haitao'， ZHU Kuoyun'， CONG Lin1，LI Bingle²，LI Chunlin²， ZHU Yue1 （1.DeparmentofOrthopedics，teistHospitalofChia MedicalUniversityShenyang1ooo，Chia;2.Beijinganzihangdical Technology Co.， Beijing 100096， China）

AbstractObjective：Toinvestigate theapplicationof anautomated pediclescrewplanningsysteminrobot-asstedlumbarspine surgery.Methods：Clinicaldataof45patients wounderwentrobot-asistedposteriorlumbarpediclescrewfixationusinganautomated planning systembasedonintraoperativeO-arcone-beamcomputedtomography（CBCT）imagesat theDepartmentofOrthopedics，the FirstHospitalofChinaMedicalUniversityfromJune224toFebruary2O25wereretrospectivelynalyedSrewplanningaccracywas assessed using theGertbein-Robbins gradingsystem.Screwtrajectoriesfrom manualanotationandautomated planning wrecompared. Planingtimeandscrewadjustmentrateswererecorded.Results：Atotalof232screwsweresuccessfullplanned.Among normal vertebrae，216 screws were acceptable，achieving a planning accuracy of 99.08% . Among fractured vertebrae，1O screws were acceptable， with a planning accuracy of 71.43% .No statistically significant difference was found between manual annotation and automated planning of screw trajectories P>0.05 ）.The average screw planning time was （8.29±0.53 ）s.137 screws were adjusted in normal vertebrae（adjustment rate： 62.84% ），and12screwswereadjustedin fractured vertebrae（adjustmentrate： 85.71% ）.Amongthese adjustments，143screws were modified in the transverse plane （adjustment rate： 61.64% ），while 6 screws were adjusted in the sagittal plane （adjustment rate： （204号 2.59% ）.Conclusion：Theautomated pediclescrew planning systemusedinthis studycanachievehighacuracyinlumbarpediclescrew placement while significantly reducing planning time，which is worthy of clinical promotion.

Key WordsPedicle Screw; Automatic Planning; Orthopedic Robot; Clinical Application

椎弓根螺钉贯穿椎体前中后三柱，具有良好的三维固定作用，广泛应用于脊柱内固定术[]。（剩余10853字）