Feasibility of Augmented Reality-Guided Robotic Ultrasound with Cone-Beam CT Integration for Spine Procedures

TL;DR

This study demonstrates that augmented reality-guided robotic ultrasound combined with cone-beam CT integration can improve accuracy, reduce procedure time, and enhance user experience in spine interventions, offering a promising alternative to traditional imaging methods.

Contribution

The paper introduces a novel AR-guided robotic ultrasound system with CBCT integration for spine procedures, enabling real-time visualization and improved guidance.

Findings

AR significantly reduces procedure time.

AR decreases placement error.

AR improves usability and reduces cognitive workload.

Abstract

Accurate needle placement in spine interventions is critical for effective pain management, yet it depends on reliable identification of anatomical landmarks and careful trajectory planning. Conventional imaging guidance often relies both on CT and X-ray fluoroscopy, exposing patients and staff to high dose of radiation while providing limited real-time 3D feedback. We present an optical see-through augmented reality (OST-AR)-guided robotic system for spine procedures that provides in situ visualization of spinal structures to support needle trajectory planning. We integrate a cone-beam CT (CBCT)-derived 3D spine model which is co-registered with live ultrasound, enabling users to combine global anatomical context with local, real-time imaging. We evaluated the system in a phantom user study involving two representative spine procedures: facet joint injection and lumbar puncture. Sixteen participants performed insertions under two visualization conditions: conventional screen vs. AR. Results show that AR significantly reduces execution time and across-task placement error, while also improving usability, trust, and spatial understanding and lowering cognitive workload. These findings demonstrate the feasibility of AR-guided robotic ultrasound for spine interventions, highlighting its potential to enhance accuracy, efficiency, and user experience in image-guided procedures.