Evidence map›Paper›PMID 42287701›Full record

ArticleThe international journal of medical robotics + computer assisted surgery : MRCAS2026

Global Workflow of a Comanipulation-Based Robotic System for Cervical Spine Surgery.

A Koszulinski, J Sandoval, C-T Wu, S-H Huang, S K Sahani, S-L Wu, T Essomba, T Vendeuvre, J-P Faure, S Zeghloul and 1 more

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In one paragraph

Article in The international journal of medical robotics + computer assisted surgery : MRCAS, 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.

0numbers the graph read from it
0cells of the map it votes in
0citing papers in PubMed
–field-weighted citation impact
1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

0 citing papers in PubMed.

No citing paper in PubMed yet.

4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

11 authors.

A KoszulinskiDepartment of GMSC, Pprime Institute CNRS, ENSMA, University of Poitiers, UPR 3346, Poitiers, France.
J SandovalNantes University, École Centrale Nantes, CNRS, LS2N, UMR 6004, Nantes, France.
C-T WuDepartment of Neurosurgery, Chang Gung Memorial Hospital at Linkou, Chang Gung University, Taoyuan, Taiwan.
S-H HuangDepartment of Neurosurgery, Chang Gung Memorial Hospital at Linkou, Chang Gung University, Taoyuan, Taiwan.
S K SahaniDepartment of Computer Science and Information Engineering, Chang Gung University, Taoyuan, Taiwan.
S-L WuDepartment of Computer Science and Information Engineering, Chang Gung University, Taoyuan, Taiwan.
T EssombaNational Central University, Taoyuan City, Taiwan.
T VendeuvreDepartment of GMSC, Pprime Institute CNRS, ENSMA, University of Poitiers, UPR 3346, Poitiers, France.
J-P FaureABS Laboratory, College of Medicine and Pharmacy, University of Poitiers, Poitiers, France.
S ZeghloulDepartment of GMSC, Pprime Institute CNRS, ENSMA, University of Poitiers, UPR 3346, Poitiers, France.
M A LaribiDepartment of GMSC, Pprime Institute CNRS, ENSMA, University of Poitiers, UPR 3346, Poitiers, France.

Funding

Conseil National de la Recherche Scientifique through the International Research Project RACeS (TWN IRP 17)
6 · The paper itself

Abstract

backgroundCervical arthrodesis requires precise pedicle screw placement to ensure safety and effectiveness. Traditional planning and execution are time-consuming and prone to variability.

methodsWe developed a robot-assisted system integrating three components: an AI-based preoperative planning module, adapted from previous work, to generate patient-specific screw trajectory from 3D CT point-clouds; an intraoperative registration and motion compensation system with optical tracking to align the trajectory with patient anatomy in real time; and a comanipulation control strategy enforcing virtual fixtures and depth limits to guide the robotic arm safely. The system was tested on 3D-printed models and cadaveric specimens.

resultsRobotic assistance significantly improved the geometric accuracy of drilling, reducing transverse positional deviations by a factor of two and orientation deviations by a factor of eight compared with freehand procedures. In addition, the average drilling depth overshoot was reduced by 50%. Perforation rates were found to be of the same order as those observed with freehand techniques.

conclusionThe proposed workflow improves trajectory-following accuracy and depth control while preserving intuitive surgeon interaction. These results demonstrate the feasibility of integrating AI-based planning, intraoperative tracking, and collaborative robotics for cervical spine surgery.

Indexed as

Cervical VertebraeRobotic Surgical ProceduresCadaverEquipment DesignHumansImaging, Three-DimensionalIntelligent SystemsPedicle ScrewsPrinting, Three-DimensionalSpinal FusionSurgery, Computer-AssistedTomography, X-Ray ComputedWorkflow

Identifiers

PMID42287701
PMCPMC13264485

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Registered trials

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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.