{"doi":"10.1109/tmrb.2022.3196321","title":"Fluoroscopy-Guided Robotic System for Transforaminal Lumbar Epidural Injections","abstract":"We present an autonomous robotic spine needle injection system using fluoroscopic image-based navigation. Our system includes patient-specific planning, intra-operative image-based 2D/3D registration and navigation, and automatic robot-guided needle injection. We performed intensive simulation studies to validate the registration accuracy. We achieved a mean spine vertebrae registration error of 0.8 ± 0.3 mm, 0.9 ± 0.7 degrees, mean injection device registration error of 0.2 ± 0.6 mm, 1.2 ± 1.3 degrees, in translation and rotation, respectively. We then conducted cadaveric studies comparing our system to an experienced clinician's free-hand injections. We achieved a mean needle tip translational error of 5.1 ± 2.4 mm and needle orientation error of 3.6 ± 1.9 degrees for robotic injections, compared to 7.6 ± 2.8 mm and 9.9 ± 4.7 degrees for clinician's free-hand injections, respectively. During injections, all needle tips were placed within the defined safety zones for this application. The results suggest the feasibility of using our image-guided robotic injection system for spinal orthopedic applications.","journal":"IEEE Transactions on Medical Robotics and Bionics","year":2022,"id":252002,"datarank":0.0,"base_score":0.0,"endowment":0.0,"self_citation_contribution":0.0,"citation_network_contribution":0.0,"self_endowment_contribution":0.0,"citer_contribution":0.0,"corpus_percentile":null,"corpus_rank":null,"citation_count":24,"citer_count":0,"citers_with_citation_signal":0,"citers_with_endowment":0,"datacite_reuse_total":0,"is_dataset":false,"is_dataset_confidence":0.9603,"is_data_producer":false,"deposit_databanks":null,"is_oa":true,"file_count":0,"downloads":0,"has_version_chain":false,"published_date":"2022-01-01","fair_score":null,"fair_percentile":null,"algorithm_id":"datarank_citation_only_1hop_v6","ranking_scope":"data_only","authors":[{"id":895925,"name":"Henry Phalen","orcid":"0000-0002-6854-6582","position":1,"is_corresponding":false},{"id":886040,"name":"Adam Margalit","orcid":"0000-0001-7982-1300","position":2,"is_corresponding":false},{"id":895926,"name":"Justin Ma","orcid":"0000-0001-9050-3493","position":3,"is_corresponding":false},{"id":895927,"name":"Ping‐Cheng Ku","orcid":"0000-0002-1285-6143","position":4,"is_corresponding":false},{"id":360698,"name":"Mathias Unberath","orcid":"0000-0002-0055-9950","position":5,"is_corresponding":false},{"id":471994,"name":"Russell H. Taylor","orcid":"0000-0001-6272-1100","position":6,"is_corresponding":false},{"id":456184,"name":"Amit Jain","orcid":"0000-0002-9983-3365","position":7,"is_corresponding":false},{"id":330889,"name":"Mehran Armand","orcid":"0000-0003-1028-8303","position":8,"is_corresponding":false},{"id":471989,"name":"Cong Gao","orcid":"0000-0001-6798-8381","position":0,"is_corresponding":true}],"reference_count":29,"raw_metadata":null,"created_at":"2026-07-19T00:24:46.226372Z","pmid":"37790985","pmcid":null,"fwci":null,"citation_percentile":null,"influential_citations":0,"oa_status":null,"license":null,"views":0,"total_file_size_bytes":0,"version_count":0,"fair_f":null,"fair_a":null,"fair_i":null,"fair_r":null,"fair_zscore":null,"fair_rationale":null,"fair_model":null,"fair_agent_version":null,"fair_fulltext_source":null,"fair_has_llm":null,"fair_computed_at":null,"clinical_trials":[],"software_tools":[],"db_accessions":[],"linked_datasets":[],"topics":[]}