Analysis of Surgical Forces Required to Gain Access using a Probe for Minimally Invasive Spine Surgery via Cadaveric-based Experiments towards use in Training Simulators

INTRODUCTION Virtual Reality haptic-based surgical simulators for training purposes have been recently receiving increased traction within the medical field. However, its future adoption is contingent on the accuracy and reliability of the haptic feedback. GOAL This study describes and analyzes the implementation of a set of haptic-tailored experiments to extract the force feedback of a medical probe used in minimally invasive spinal lumbar interbody fusion surgeries. METHODS Experiments to extract linear, lateral and rotational insertion, relaxation and extraction of the tool within the spinal muscles, intervertebral discs and lumbar nerve on two cadaveric torsos were conducted. RESULTS Notably, mean force-displacement and torque-angular displacement curves describing the different tool-tissue responses were reported with a maximum force of 6.87 (± 1.79) N at 40 mm in the muscle and an initial rupture force through the Annulus Fibrosis of 20.550 (± 7.841) N at 6.441 mm in the L4/L5 disc. CONCLUSION The analysis showed that increasing the velocity of the probe slightly reduced and delayed depth of the muscle punctures but significantly lowered the force reduction due to relaxation. Decreasing probe depth resulted with a reduction to the force relaxation drop. However, varying the puncturing angle of attack resulted with a significant effect on increasing force intensities. Finally, not resecting the thoracolumbar fascia prior to puncturing the muscle resulted with a significant increase in the force intensities. SIGNIFICANCE These results present a complete characterization of the input required for probe access for spinal surgeries to provide an accurate haptic response in training simulators.