{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,10]],"date-time":"2026-09-10T14:50:11Z","timestamp":1789051811585,"version":"build-2803163510"},"reference-count":35,"publisher":"Ovid Technologies (Wolters Kluwer Health)","issue":"12","content-domain":{"domain":["lww.com","ovid.com"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2023,6,21]]},"abstract":"<jats:sec>\n                    <jats:title>Background:<\/jats:title>\n                    <jats:p>The main function of robots in spine surgery is to assist with pedicle screw placement. Laminectomy, which is as important as pedicle screw placement, lacks a mature robot-assisted system. The aims of this study were to introduce the first autonomous laminectomy robot, to explore the feasibility of autonomous robotic laminectomy, and to validate its accuracy using a cadaveric model.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Methods:<\/jats:title>\n                    <jats:p>Forty vertebrae from 4 cadavers were included in the study; 7 thoracic and 3 lumbar vertebrae were randomly selected in each cadaver. The surgeon was able to plan the laminectomy path based on computed tomographic (CT) data before the surgical procedure. The robot performed the laminectomy autonomously, and a postoperative CT scan was made. The deviation of each cutting plane from the plan was quantitatively analyzed, and the accuracy and safety were qualitatively evaluated. The time required for the laminectomy was also recorded.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Results:<\/jats:title>\n                    <jats:p>Cuts were performed in 80 laminectomy planes (56 for thoracic vertebrae and 24 for lumbar vertebrae). The mean time for 1-sided laminectomy was 333.59 \u00b1 116.49 seconds, which was shorter for thoracic vertebrae (284.41 \u00b1 66.04 seconds) than lumbar vertebrae (448.33 \u00b1 128.65 seconds) (p &lt; 0.001). The mean time for single-level total laminectomy was 814.05 \u00b1 302.23 seconds, which was also shorter for thoracic vertebrae (690.46 \u00b1 165.74 seconds) than lumbar vertebrae (1,102.42 \u00b1 356.13 seconds) (p = 0.002). The mean deviation of the cutting plane from the plan was 0.67 \u00b1 0.30 mm for the most superior cutting point and 0.73 \u00b1 0.31 mm for the most inferior point. There were no significant differences in the deviation between thoracic vertebrae (0.66 \u00b1 0.26 mm) and lumbar vertebrae (0.67 \u00b1 0.38 mm) at the superior cutting point (p = 0.908) and between thoracic vertebrae (0.72 \u00b1 0.30 mm) and lumbar vertebrae (0.73 \u00b1 0.33 mm) at the inferior cutting point (p = 0.923). In the qualitative analysis of the accuracy of the 80 laminectomy planes, 66 (83%) were classified as grade A, 14 (18%) were grade B, and none was grade C. In the safety analysis, 65 planes (81%) were considered safe and the safety of the other 15 planes (19%) was considered uncertain.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Conclusions:<\/jats:title>\n                    <jats:p>The results confirmed the accuracy of this robotic system, supporting its use for laminectomy of thoracolumbar vertebrae.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Level of Evidence:<\/jats:title>\n                    <jats:p>\n                      Therapeutic\n                      <jats:underline>Level V<\/jats:underline>\n                      . See Instructions for Authors for a complete description of levels of evidence.\n                    <\/jats:p>\n                  <\/jats:sec>","DOI":"10.2106\/jbjs.22.01320","type":"journal-article","created":{"date-parts":[[2023,3,21]],"date-time":"2023-03-21T14:02:42Z","timestamp":1679407362000},"page":"943-950","update-policy":"https:\/\/doi.org\/10.1097\/lww.0000000000001000","source":"Crossref","is-referenced-by-count":28,"title":["Accuracy Evaluation of a Novel Spinal Robotic System for Autonomous Laminectomy in Thoracic and Lumbar Vertebrae"],"prefix":"10.2106","volume":"105","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5839-2447","authenticated-orcid":false,"given":"Zhuofu","family":"Li","sequence":"first","affiliation":[{"name":"Department of Orthopaedics, Peking University Third Hospital, Beijing, People\u2019s Republic of China"},{"name":"Beijing Key Laboratory of Spinal Disease Research, Beijing, People\u2019s Republic of China"},{"name":"Engineering Research Center of Bone and Joint Precision Medicine, Ministry of Education, Beijing, People\u2019s Republic of China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9040-4265","authenticated-orcid":false,"given":"Chengxia","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Orthopaedics, Peking University Third Hospital, Beijing, People\u2019s Republic of China"},{"name":"Beijing Key Laboratory of Spinal Disease Research, Beijing, People\u2019s Republic of China"},{"name":"Engineering Research Center of Bone and Joint Precision Medicine, Ministry of Education, Beijing, People\u2019s Republic of China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4569-5657","authenticated-orcid":false,"given":"Xiongkang","family":"Song","sequence":"additional","affiliation":[{"name":"Robotics Institute, School of Mechanical Engineering and Automation, Beihang University, Beijing, People\u2019s Republic of China"},{"name":"Beijing Zhuzheng Robot Co., Ltd., Beijing, People\u2019s Republic of China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3618-7201","authenticated-orcid":false,"given":"Shanshan","family":"Liu","sequence":"additional","affiliation":[{"name":"Department of Orthopaedics, Peking University Third Hospital, Beijing, People\u2019s Republic of China"},{"name":"Beijing Key Laboratory of Spinal Disease Research, Beijing, People\u2019s Republic of China"},{"name":"Engineering Research Center of Bone and Joint Precision Medicine, Ministry of Education, Beijing, People\u2019s Republic of China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0622-8503","authenticated-orcid":false,"given":"Yonghong","family":"Zhang","sequence":"additional","affiliation":[{"name":"Robotics Institute, School of Mechanical Engineering and Automation, Beihang University, Beijing, People\u2019s Republic of China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2464-6258","authenticated-orcid":false,"given":"Shuai","family":"Jiang","sequence":"additional","affiliation":[{"name":"Department of Orthopaedics, Peking University Third Hospital, Beijing, People\u2019s Republic of China"},{"name":"Beijing Key Laboratory of Spinal Disease Research, Beijing, People\u2019s Republic of China"},{"name":"Engineering Research Center of Bone and Joint Precision Medicine, Ministry of Education, Beijing, People\u2019s Republic of China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7348-489X","authenticated-orcid":false,"given":"Xuquan","family":"Ji","sequence":"additional","affiliation":[{"name":"Beijing Zhuzheng Robot Co., Ltd., Beijing, People\u2019s Republic of China"},{"name":"School of Biological Science and Medical Engineering, Beihang University, Beijing, People\u2019s Republic of China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6225-7384","authenticated-orcid":false,"given":"Tianyang","family":"Zhang","sequence":"additional","affiliation":[{"name":"Robotics Institute, School of Mechanical Engineering and Automation, Beihang University, Beijing, People\u2019s Republic of China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8156-6548","authenticated-orcid":false,"given":"Fei","family":"Xu","sequence":"additional","affiliation":[{"name":"Department of Orthopaedics, Peking University Third Hospital, Beijing, People\u2019s Republic of China"},{"name":"Beijing Key Laboratory of Spinal Disease Research, Beijing, People\u2019s Republic of China"},{"name":"Engineering Research Center of Bone and Joint Precision Medicine, Ministry of Education, Beijing, People\u2019s Republic of China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5338-0903","authenticated-orcid":false,"given":"Lei","family":"Hu","sequence":"additional","affiliation":[{"name":"Robotics Institute, School of Mechanical Engineering and Automation, Beihang University, Beijing, People\u2019s Republic of China"},{"name":"Beijing Zhuzheng Robot Co., Ltd., Beijing, People\u2019s Republic of China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9512-5436","authenticated-orcid":false,"given":"Weishi","family":"Li","sequence":"additional","affiliation":[{"name":"Department of Orthopaedics, Peking University Third Hospital, Beijing, People\u2019s Republic of China"},{"name":"Beijing Key Laboratory of Spinal Disease Research, Beijing, People\u2019s Republic of China"},{"name":"Engineering Research Center of Bone and Joint Precision Medicine, Ministry of Education, Beijing, People\u2019s Republic of China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"276","published-online":{"date-parts":[[2023,3,21]]},"reference":[{"issue":"6","key":"bib1-20250430","doi-asserted-by":"crossref","first-page":"723","DOI":"10.1007\/s11684-019-0716-6","article-title":"New spinal robotic technologies","volume":"13","author":"Jiang","year":"2019","journal-title":"Front Med."},{"issue":"8","key":"bib2-20250430","doi-asserted-by":"crossref","first-page":"715","DOI":"10.21037\/atm-20-5270","article-title":"Robot-assisted laminectomy in spinal surgery: a systematic review","volume":"9","author":"Li","year":"2021","journal-title":"Ann Transl Med."},{"issue":"3","key":"bib3-20250430","doi-asserted-by":"crossref","DOI":"10.1002\/rcs.1779","article-title":"A prospective, randomized, controlled trial of robot-assisted vs freehand pedicle screw fixation in spine surgery","volume":"13","author":"Kim","year":"2017","journal-title":"Int J Med Robot."},{"issue":"17","key":"bib4-20250430","doi-asserted-by":"crossref","first-page":"E986","DOI":"10.1097\/BRS.0000000000000960","article-title":"Clinical pedicle screw accuracy and deviation from planning in robot-guided spine surgery: robot-guided pedicle screw accuracy","volume":"40","author":"van Dijk","year":"2015","journal-title":"Spine (Phila Pa 1976)."},{"issue":"5","key":"bib5-20250430","doi-asserted-by":"crossref","first-page":"E14","DOI":"10.3171\/2017.3.FOCUS179","article-title":"Accuracy of robot-guided versus freehand fluoroscopy-assisted pedicle screw insertion in thoracolumbar spinal surgery","volume":"42","author":"Molliqaj","year":"2017","journal-title":"Neurosurg Focus."},{"issue":"8","key":"bib6-20250430","doi-asserted-by":"crossref","first-page":"E496","DOI":"10.1097\/BRS.0b013e31824b7767","article-title":"Accuracy of robot-assisted placement of lumbar and sacral pedicle screws: a prospective randomized comparison to conventional freehand screw implantation","volume":"37","author":"Ringel","year":"2012","journal-title":"Spine (Phila Pa 1976)."},{"key":"bib7-20250430","doi-asserted-by":"crossref","first-page":"23","DOI":"10.1186\/s41016-018-0131-x","article-title":"Pedicle screw accuracy assessment in ExcelsiusGPS\u00ae robotic spine surgery: evaluation of deviation from pre-planned trajectory","volume":"4","author":"Jiang","year":"2018","journal-title":"Chin Neurosurg J."},{"issue":"5","key":"bib8-20250430","doi-asserted-by":"crossref","first-page":"326","DOI":"10.1097\/BRS.0000000000001738","article-title":"Accuracy and safety of pedicle screw placement in adolescent idiopathic scoliosis patients: a review of 2020 screws using computed tomography assessment","volume":"42","author":"Kwan","year":"2017","journal-title":"Spine (Phila Pa 1976)."},{"issue":"3","key":"bib9-20250430","first-page":"CD010036","article-title":"Effectiveness of posterior decompression techniques compared with conventional laminectomy for lumbar stenosis","author":"Overdevest","year":"2015","journal-title":"Cochrane Database Syst Rev."},{"issue":"14","key":"bib10-20250430","doi-asserted-by":"crossref","first-page":"E842","DOI":"10.1097\/BRS.0000000000002563","article-title":"Outcomes and complications following laminectomy alone for thoracic myelopathy due to ossified ligamentum flavum: a systematic review and meta-analysis","volume":"43","author":"Osman","year":"2018","journal-title":"Spine (Phila Pa 1976)."},{"issue":"Suppl 2","key":"bib11-20250430","doi-asserted-by":"crossref","first-page":"168","DOI":"10.1007\/s00586-013-2838-x","article-title":"Cervical laminectomy and instrumented lateral mass fusion: techniques, pearls and pitfalls","volume":"24","author":"Mayer","year":"2015","journal-title":"Eur Spine J."},{"issue":"4","key":"bib12-20250430","doi-asserted-by":"crossref","first-page":"229","DOI":"10.1097\/BSD.0b013e3181a3d889","article-title":"Microdecompressive laminatomy with a 5-year follow-up period for severe lumbar spinal stenosis","volume":"23","author":"Celik","year":"2010","journal-title":"J Spinal Disord Tech."},{"issue":"3","key":"bib13-20250430","doi-asserted-by":"crossref","first-page":"386","DOI":"10.1302\/0301-620X.75B3.8496205","article-title":"The surgical treatment of central lumbar stenosis. Multiple laminotomy compared with total laminectomy","volume":"75","author":"Postacchini","year":"1993","journal-title":"J Bone Joint Surg Br."},{"issue":"2","key":"bib14-20250430","doi-asserted-by":"crossref","first-page":"129","DOI":"10.3171\/spi.2005.3.2.0129","article-title":"Outcome after less-invasive decompression of lumbar spinal stenosis: a randomized comparison of unilateral laminotomy, bilateral laminotomy, and laminectomy","volume":"3","author":"Thom\u00e9","year":"2005","journal-title":"J Neurosurg Spine."},{"issue":"1","key":"bib15-20250430","doi-asserted-by":"crossref","first-page":"E11","DOI":"10.3171\/2021.10.FOCUS21499","article-title":"Collaborative spinal robot system for laminectomy: a preliminary study","volume":"52","author":"Li","year":"2022","journal-title":"Neurosurg Focus."},{"issue":"2","key":"bib16-20250430","doi-asserted-by":"crossref","first-page":"178","DOI":"10.1002\/rcs.304","article-title":"Force-based control of a compact spinal milling robot","volume":"6","author":"Wang","year":"2010","journal-title":"Int J Med Robot."},{"issue":"6","key":"bib17-20250430","doi-asserted-by":"crossref","first-page":"3028","DOI":"10.1109\/TMECH.2015.2414177","article-title":"Vibration-based milling condition monitoring in robot-assisted spine surgery","volume":"20","author":"Dai","year":"2015","journal-title":"IEEE\/ASME Trans Mechatron."},{"issue":"3","key":"bib18-20250430","doi-asserted-by":"crossref","first-page":"249","DOI":"10.1016\/j.trit.2016.10.005","article-title":"Safety control strategy for vertebral lamina milling task","volume":"1","author":"Fan","year":"2016","journal-title":"CAAI Trans Intell Technol."},{"issue":"7","key":"bib19-20250430","doi-asserted-by":"crossref","first-page":"4642","DOI":"10.1002\/mp.15681","article-title":"Generating patient-matched 3D-printed pedicle screw and laminectomy drill guides from cone beam CT images: studies in ovine and porcine cadavers","volume":"49","author":"Kanawati","year":"2022","journal-title":"Med Phys."},{"key":"bib20-20250430","doi-asserted-by":"crossref","first-page":"e821","DOI":"10.1016\/j.wneu.2021.01.092","article-title":"The development of novel 2-in-1 patient-specific, 3D-printed laminectomy guides with integrated pedicle screw drill guides","volume":"149","author":"Kanawati","year":"2021","journal-title":"World Neurosurg."},{"issue":"2","key":"bib21-20250430","first-page":"ONS129","article-title":"Bone-mounted miniature robotic guidance for pedicle screw and translaminar facet screw placement: part 2\u2014evaluation of system accuracy","volume":"60","author":"Togawa","year":"2007","journal-title":"Neurosurgery."},{"issue":"1","key":"bib22-20250430","doi-asserted-by":"crossref","first-page":"11","DOI":"10.1097\/00007632-199001000-00004","article-title":"Accuracy of pedicular screw placement in vivo","volume":"15","author":"Gertzbein","year":"1990","journal-title":"Spine (Phila Pa 1976)."},{"issue":"6","key":"bib23-20250430","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1002\/rcs.2171","article-title":"A novel fluoroscopy-based robot system for pedicle screw fixation surgery","volume":"16","author":"Luo","year":"2020","journal-title":"Int J Med Robot."},{"issue":"2","key":"bib24-20250430","doi-asserted-by":"crossref","first-page":"181","DOI":"10.1016\/j.spinee.2020.09.007","article-title":"Safety and accuracy of robot-assisted placement of pedicle screws compared to conventional free-hand technique: a systematic review and meta-analysis","volume":"21","author":"Fatima","year":"2021","journal-title":"Spine J."},{"key":"bib25-20250430","doi-asserted-by":"crossref","first-page":"435","DOI":"10.1016\/j.wneu.2020.10.010","article-title":"Mazor X Stealth robotic technology: a technical note","volume":"145","author":"O\u2019Connor","year":"2021","journal-title":"World Neurosurg."},{"issue":"2","key":"bib26-20250430","doi-asserted-by":"crossref","first-page":"153","DOI":"10.1111\/os.12453","article-title":"Guideline for thoracolumbar pedicle screw placement assisted by orthopaedic surgical robot","volume":"11","author":"Tian","year":"2019","journal-title":"Orthop Surg."},{"issue":"6","key":"bib27-20250430","doi-asserted-by":"crossref","first-page":"760","DOI":"10.1177\/2192568219876246","article-title":"The effectiveness and safety of ultrasonic bone scalpel versus conventional method in cervical laminectomy: a retrospective study of 311 patients","volume":"10","author":"Dave","year":"2020","journal-title":"Global Spine J."},{"issue":"1","key":"bib28-20250430","doi-asserted-by":"crossref","first-page":"E223","DOI":"10.1097\/BSD.0000000000001188","article-title":"Safety and effectiveness of modified expansive open-door laminoplasty using a ultrasonic bone scalpel compared with a high-speed drill","volume":"35","author":"Lin","year":"2022","journal-title":"Clin Spine Surg."},{"issue":"6","key":"bib29-20250430","doi-asserted-by":"crossref","first-page":"825","DOI":"10.1093\/neuros\/nyz301","article-title":"The efficacy of ultrasonic bone scalpel for unilateral cervical open-door laminoplasty: a randomized controlled trial","volume":"86","author":"Kim","year":"2020","journal-title":"Neurosurgery."},{"issue":"6","key":"bib30-20250430","doi-asserted-by":"crossref","first-page":"775","DOI":"10.1080\/02688697.2020.1817321","article-title":"Primary lumbar decompression using ultrasonic bone curette compared to conventional technique","volume":"35","author":"Moon","year":"2021","journal-title":"Br J Neurosurg."},{"issue":"4","key":"bib31-20250430","doi-asserted-by":"crossref","first-page":"803","DOI":"10.1007\/s00586-019-06242-4","article-title":"Navigated percutaneous versus open pedicle screw implantation using intraoperative CT and robotic cone-beam CT imaging","volume":"29","author":"Tkatschenko","year":"2020","journal-title":"Eur Spine J."},{"issue":"2","key":"bib32-20250430","doi-asserted-by":"crossref","first-page":"E9","DOI":"10.3171\/2017.5.FOCUS17200","article-title":"Minimally invasive guidewireless, navigated pedicle screw placement: a technical report and case series","volume":"43","author":"Smith","year":"2017","journal-title":"Neurosurg Focus."},{"issue":"5","key":"bib33-20250430","doi-asserted-by":"crossref","first-page":"370","DOI":"10.1097\/BRS.0000000000002173","article-title":"Intraoperative computed tomography versus 3D C-arm imaging for navigated spinal instrumentation","volume":"43","author":"Hecht","year":"2018","journal-title":"Spine (Phila Pa 1976)."},{"key":"bib34-20250430","first-page":"1","article-title":"Index episode-of-care propensity-matched comparison of transforaminal lumbar interbody fusion (TLIF) techniques: open traditional TLIF versus midline lumbar interbody fusion (MIDLIF) versus robot-assisted MIDLIF","author":"Ver","year":"2020","journal-title":"J Neurosurg Spine."},{"key":"bib35-20250430","doi-asserted-by":"crossref","first-page":"622","DOI":"10.1016\/j.wneu.2020.05.071","article-title":"Evolution of minimally invasive lumbar spine surgery","volume":"140","author":"Momin","year":"2020","journal-title":"World Neurosurg."}],"container-title":["Journal of Bone and Joint Surgery"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.ovid.com\/10.2106\/JBJS.22.01320","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,8,26]],"date-time":"2026-08-26T13:45:33Z","timestamp":1787751933000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.ovid.com\/10.2106\/JBJS.22.01320"}},"subtitle":["A Cadaveric Study"],"short-title":[],"issued":{"date-parts":[[2023,3,21]]},"references-count":35,"journal-issue":{"issue":"12","published-print":{"date-parts":[[2023]]}},"URL":"https:\/\/doi.org\/10.2106\/jbjs.22.01320","relation":{},"ISSN":["0021-9355","1535-1386"],"issn-type":[{"value":"0021-9355","type":"print"},{"value":"1535-1386","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,3,21]]}}}