Spinal biomechanics modeling and finite element analysis of surgical instrument interaction

Abstract When the spinal surgery robot assists the surgeon perform the surgery, the patient is prone on the operating table. However, due to the force of the surgical instruments on the spine, there is a corresponding deformation in the surgical field, which affects the accuracy of the operation. In order to improve the accuracy and safety of the operation, this paper reconstructs the three-dimensional model of the lumbar spine which includes the vertebral body and the intervertebral disc based on the CT scan data, and then the lumbar spine is analyzed by the finite element method. The mathematical model of the relationship between force and displacement is established by using response surface methodology based on the simulation results. After that, the position control system is constructed based on the mathematical model. Through the simulation of the control system, the trajectory curve of the end of the manipulator is compared and the validity of the mathematical model is verified.

[1]  P. Brinckmann,et al.  Interlaminar Shear Stresses and Laminae Separation in a Disc: Finite Element Analysis of the L3‐L4 Motion Segment Subjected to Axial Compressive Loads , 1995, Spine.

[2]  K. Subbaraj,et al.  Biomechanical Analysis and Simulation of Scoliosis Surgical Correction , 1986, Clinical orthopaedics and related research.

[3]  Antonius Rohlmann,et al.  Analysis of the influence of disc degeneration on the mechanical behaviour of a lumbar motion segment using the finite element method. , 2006, Journal of biomechanics.

[4]  A Shirazi-Adl,et al.  Mechanical Response of a Lumbar Motion Segment in Axial Torque Alone and Combined with Compression , 1986, Spine.

[5]  A B Schultz,et al.  Finite element stress analysis of an intervertebral disc. , 1974, Journal of biomechanics.

[6]  H. Farfan,et al.  Lumbar intervertebral disc degeneration: the influence of geometrical features on the pattern of disc degeneration--a post mortem study. , 1972, The Journal of bone and joint surgery. American volume.

[7]  K. Markolf,et al.  The structural components of the intervertebral disc. A study of their contributions to the ability of the disc to withstand compressive forces. , 1974, The Journal of bone and joint surgery. American volume.

[8]  Zaoyang Guo,et al.  Biomechanical analysis of lumbar interbody fusion with an anisotropic hyperelastic model for annulus fibrosis , 2012, Archive of Applied Mechanics.

[9]  Antonius Rohlmann,et al.  Determination of trunk muscle forces for flexion and extension by using a validated finite element model of the lumbar spine and measured in vivo data. , 2006, Journal of biomechanics.

[10]  G. Bergmann,et al.  Estimation of muscle forces in the lumbar spine during upper-body inclination. , 2001, Clinical biomechanics.

[11]  J. Vega,et al.  [Biology and mechanobiology of the intervertebral disc]. , 2017, Neurocirugia.

[12]  R. Müller,et al.  Load-adaptive bone remodeling simulations reveal osteoporotic microstructural and mechanical changes in whole human vertebrae. , 2016, Journal of biomechanics.

[13]  Y K Liu,et al.  The resistance of the lumbar spine to direct shear. , 1975, The Orthopedic clinics of North America.

[14]  T. Brown,et al.  Some mechanical tests on the lumbosacral spine with particular reference to the intervertebral discs; a preliminary report. , 1957, The Journal of bone and joint surgery. American volume.

[15]  C. Müller-Karger,et al.  Sensibility analysis of the material properties applied to an intervertebral disc model , 2013, 2013 Pan American Health Care Exchanges (PAHCE).

[16]  K. Markolf.  Deformation of the thoracolumbar intervertebral joints in response to external loads: a biomechanical study using autopsy material. , 1972, The Journal of bone and joint surgery. American volume.

[17]  H. Farfan,et al.  The effects of torsion on the lumbar intervertebral joints: the role of torsion in the production of disc degeneration. , 1970, The Journal of bone and joint surgery. American volume.

[18]  G. Andersson,et al.  Influence of single-level lumbar degenerative disc disease on the behavior of the adjacent segments--a finite element model study. , 2009, Journal of biomechanics.

[19]  W J VIRGIN,et al.  Experimental investigations into the physical properties of the intervertebral disc. , 1951, The Journal of bone and joint surgery. British volume.

[20]  A. Palazotto,et al.  A finite element analysis of the influence of surgical herniation on the viscoelastic properties of the intervertebral disc. , 1983, Journal of biomechanics.

[21]  Y K Liu,et al.  A three-dimensional nonlinear finite element model of lumbar intervertebral joint in torsion. , 1987, Journal of biomechanical engineering.

[22]  J. Vega,et al.  Biology and mechanobiology of the intervertebral disc , 2017 .