A Respiratory Motion Compensation Method for Robotic-Assisted Laminectomy

Laminoplasty is a widely used orthopedic surgical procedure for the treatment of spinal canal stenosis, primarily achieved by removing the lamina to restore the canal space and relieve neural compression. During laminoplasty, orthopedic surgeons utilize high-speed burring tools to thin the lamina, a process that demands a high level of surgical precision. However, intraoperative respiratory-induced micro-movements of the surgical field present significant challenges to accurate tool manipulation, thereby increasing the risk to surgical safety. This study proposes a closed-loop, optically-navigated respiratory motion compensation method to address this issue during laminoplasty. Experimental validation shows a motion tracking error of 0.35mm and a tracking delay of 79.4ms, which significantly outperforms the approximately 100 ms delay typical of current respiratory motion compensation systems in robotic laminoplasty.