您的位置:山东大学 -> 科技期刊社 -> 《山东大学学报(医学版)》

山东大学学报 (医学版) ›› 2026, Vol. 64 ›› Issue (2): 11-21.doi: 10.6040/j.issn.1671-7554.0.2025.0665

• 综述 • 上一篇    

机器人辅助经椎间孔腰椎椎体间融合术专家共识

机器人辅助经椎间孔腰椎椎体间融合术手术技术专家组   

  • 发布日期:2026-02-10
  • 通讯作者: 刘新宇. E-mail:newyuliu@163.com
  • 基金资助:
    国家自然科学基金(81874022,82172483,82102522);山东省重点研发计划(2022CXGC010503);山东省自然科学基金(ZR202102210113);泰山学者工程专项经费资助(tsqn202211317);国家高水平医院临床研究基金(2022-PUMCH-D-004)

Expert consensus on robot-assisted transforaminal lumbar interbody fusion surgical techniques

Intelligent Orthopedics Subgroup of Chinese Association of Orthopedic, Subgroup for Prevention and Control of Spinal and Spinal Cord Injury Diseases of Professional Committee for Prevention and Control of Spinal Diseases of Chinese Preventive Medicine Association   

  1. Robotassisted Transforaminal Lumbar Interbody Fusion Surgical Technical Expert Group
  • Published:2026-02-10

摘要: 机器人辅助经椎间孔腰椎椎体间融合术(robot-assisted transforaminal lumbar interbody fusion, RA-TLIF)是一项新兴的手术技术,与传统透视引导下徒手TLIF相比,其准确率高,在椎弓根纤细、解剖变异和翻修手术中具有巨大的优势。目前关于RA-TLIF的关键手术技术、并发症和远期随访方面尚存在一定争议,部分医生对手术的适应证和禁忌证等问题尚不明确。为规范RA-TLIF的临床应用,稳步推进该技术的开展,经全国脊柱专家多次讨论,在循证医学的基础上,使用改良Delphi调查法制定本共识,为广大同道提供参考。

关键词: 机器人辅助, 经椎间孔腰椎椎体间融合术, 临床应用, 手术技术, 专家共识

Abstract: Robot-assisted TLIF(RA-TLIF)is an emerging surgical technique with higher accuracy than traditional fluoroscopy-traditional guided TLIF, which highlights great advantages especially in pedicle slenderness, anatomical variations and revision surgery. There is still some controversy about the key surgical techniques, complications and long-term follow-up of RA-TLIF, and some surgeons grasp of the indications and contraindications of the procedure is still unclear. In order to standardise the clinical application of RA-TLIF and to steadily promote the development of this technology, this consensus has been formulated on the basis of evidence-based medicine using the modified Delphi survey method after many discussions among spine experts across the country to provide a reference for the majority of colleagues.

Key words: Robot-assisted, Transforaminal lumbar interbody fusion, Clinical application, Surgical techniques, Expert consensus

中图分类号: 

  • R681.5
[1] Harms J, Rolinger H. A one-stager procedure in operative treatment of spondylolistheses: dorsal traction-reposition and anterior fusion(authors transl)[J]. Z Orthop Ihre Grenzgeb, 1982, 120(3): 343-347.
[2] Foley KT, Lefkowitz MA. Advances in minimally invasive spine surgery[J]. Clin Neurosurg, 2002, 49: 499-517.
[3] Wolf A, Shoham M, Michael S, et al. Feasibility study of a mini, bone-attached, robotic system for spinal operations: analysis and experiments[J]. Spine(Phila Pa 1976), 2004, 29(2): 220-228.
[4] Walker CT, Kakarla UK, Chang SW, et al. History and advances in spinal neurosurgery[J]. J Neurosurg Spine, 2019, 31(6): 775-785.
[5] 曾成, 吴佳源, 丁红涛, 等. 新型可视化骨科机器人辅助与徒手开放腰椎椎弓根螺钉内固定术的回顾性队列研究[J]. 首都医科大学学报, 2024, 45(5): 808-814. ZENG Cheng, WU Jiayuan, Ding Hongtao, et al. A retrospective cohort study on comparison between a novel visualized orthopedic robot-assisted technique versus a free-hand technique of pedicle screw placement in the lumbar spine[J]. Journal of Capital Medical University, 2024, 45(5): 808-814.
[6] De Kleuver M, Lewis SJ, Germscheid NM, et al. Optimal surgical care for adolescent idiopathic scoliosis: an international consensus[J]. Eur Spine J, 2014, 23(12): 2603-2618.
[7] Holly LT, Schwender JD, Rouben DP, et al. Minimally invasive transforaminal lumbar interbody fusion: indications, technique, and complications[J]. Neurosurg Focus, 2006, 20(3): E6.
[8] Karikari IO, Isaacs RE. Minimally invasive transforaminal lumbar interbody fusion: a review of techniques and outcomes[J]. Spine(Phila Pa 1976), 2010, 35(26 Suppl): 294-301.
[9] Lau D, Khan A, Terman SW, et al. Comparison of perioperative outcomes following open versus minimally invasive transforaminal lumbar interbody fusion in obese patients[J]. Neurosurg Focus, 2013, 35(2): E10.
[10] Tian W, Liu YJ, Liu B, et al. Guideline for thoracolumbar pedicle screw placement assisted by orthopaedic surgical robot[J]. Orthop Surg, 2019, 11(2): 153-159.
[11] Chang M, Wang L, Yuan S, et al. Percutaneous endoscopic robot-assisted transforaminal lumbar interbody fusion(PE RA-TLIF)for lumbar spondylolisthesis: a technical note and two years clinical results[J]. Pain Physician, 2022, 25(1): 73-86.
[12] Jacofsky DJ, Allen M. Robotics in arthroplasty: a comprehensive review[J]. J Arthroplasty, 2016, 31(10): 2353-2363.
[13] 吴闻文, 李振宙, 商卫林,等. 改良微创TLIF技术治疗腰椎间盘源性腰痛[J]. 中国疼痛医学杂志, 2011,17(5): 298-303. WU Wenwen, LI Zhenzhou, SHANG Weilin, et al. Apolication of modified mini-TLIF technique to treat discogenic back pain[J]. Chinese Journal of Pain Medicine, 2011, 17(5): 298-303.
[14] 李立钧, 李昕, 潘杰,等. 双侧微创经椎间孔腰椎间融合术治疗峡部裂性腰椎滑脱[J]. 中华外科杂志, 2009, 47(20): 1593-1594.
[15] Garg B, Mehta N. Minimally invasive transforaminal lumbar interbody fusion(MI-TLIF): a review of indications, technique, results and complications[J]. J Clin Orthop Trauma, 2019, 10(Suppl 1): 156-162.
[16] Badlani N, Yu E, Kreitz T, et al. Minimally invasive transforaminal lumbar interbody fusion(TLIF)[J]. Clin Spine Surg, 2020, 33(2): 62-64.
[17] Wang L, Li C, Wang Z, et al. Comparison of robot-assisted versus fluoroscopy-assisted minimally invasive transforaminal lumbar interbody fusion for degenerative lumbar spinal diseases: 2-year follow-up[J]. J Robot Surg, 2023, 17(2): 473-485.
[18] 周跃. 腰椎滑脱症的微创减压、复位与融合内固定术[J]. 中华骨科杂志, 2011, 24(10): 1175-1180.
[19] 中华医学会麻醉学分会老年人麻醉学组, 北京医学会骨科分会老年学组, 国家老年疾病临床医学研究中心. 高龄脊柱手术患者围手术期多学科评估中国专家共识[J]. 中华医学杂志, 2022, 102(17): 1245-1257.
[20] 白玉树, 翟骁, 陈自强, 等. 退变性脊柱侧凸手术加速康复外科围手术期管理策略专家共识[J]. 第二军医大学学报, 2020, 41(3): 233-242.
[21] Vasan N, Scherman DB, Kam A. A tale of two robots: operating times and learning curves in robot-assisted lumbar fusion[J]. J Clin Neurosci, 2022, 97: 42-48. doi: 10.1016/j.jocn.2021.12.027
[22] Alsalmi S, Alsofyani M, Bugdadi A, et al. Postoperative outcome of robot-assisted transforaminal lumbar interbody fusion: a pilot study[J]. Asian J Neurosurg, 2021, 16(4): 759-764.
[23] Gao S, Wei J, Li W, et al. Accuracy of robot-assisted percutaneous pedicle screw placement under regional anesthesia: a retrospective cohort study[J]. Pain Res Manag, 2021, 2021: 6894001. doi: 10.1155/2021/6894001
[24] 张嘉琦, 胡量子. 术中肺保护性通气策略的研究进展[J]. 创伤外科杂志, 2023, 25(5): 393-398. ZHANG Jiaqi, HU Liangzi. Intraoperative lung protective ventilation: recent research progress[J]. Journal of Traumatic Surgery, 2023, 25(5): 393-398.
[25] Ren Y, Liu J, Nie X, et al. Association of tidal volume during mechanical ventilation with postoperative pulmonary complications in pediatric patients undergoing major scoliosis surgery[J]. Paediatr Anaesth, 2020, 30(7): 806-813.
[26] Hager DN, Brower RG. Customizing lung-protective mechanical ventilation strategies[J]. Crit Care Med, 2006, 34(5): 1554-1555.
[27] 李玉希, 黄浚燊, 刘婷,等. 脊柱手术机器人在脊柱外科手术中的应用进展[J]. 机器人外科学杂志(中英文), 2021, 2(2): 143-150. LI Yuxi, HUANG Junshen, LIU Ting, et al. Application progress of spinal surgical robot[J]. Chinese Journal of Robotic Surgery, 2021, 2(2): 143-150.
[28] 刘新宇, 原所茂, 田永昊, 等. 微创经椎间孔腰椎椎体间融合术内固定相关并发症及对策[J]. 中华骨科杂志, 2016, 29(22): 1426-1434. LIU Xinyu, YUAN Suomao, TIAN Yonghao, et al. Instrumentation related complication of lumbar degenerative disc diseases treated by minimally invasive transforaminal lumbar interbody fusion(MIS-TLIF)[J]. Chinese Journal of Orthopaedics, 2016, 29(22): 1426-1434.
[29] Wang L, Li H, Zhao Y, et al. Ligamentum-preserved/temporary preserved minimally invasive transforaminal lumbar interbody fusion for lumbar spondylolisthesis: technical note and 2-year follow-up[J]. Spine(Phila Pa 1976), 2022, 47(8): 328-336.
[30] Han X, Tian W, Liu Y, et al. Safety and accuracy of robot-assisted versus fluoroscopy-assisted pedicle screw insertion in thoracolumbar spinal surgery: a prospective randomized controlled trial[J]. J Neurosurg Spine, 2019, 30(5): 615-622.
[31] Roser F, Tatagiba M, Maier G. Spinal robotics: current applications and future perspectives[J]. Neurosurgery, 2013, 72(Suppl 1): 12-18.
[32] Hyun SJ, Kim KJ, Jahng TA, et al. Minimally invasive robotic versus open fluoroscopic-guided spinal instrumented fusions: a randomized controlled trial[J]. Spine(Phila Pa 1976), 2017, 42(6): 353-358.
[33] Kantelhardt SR, Martinez R, Baerwinkel S, et al. Perioperative course and accuracy of screw positioning in conventional, open robotic-guided and percutaneous robotic-guided, pedicle screw placement[J]. Eur Spine J, 2011, 20(6): 860-868.
[34] Zhang Q, Xu YF, Tian W, et al. Comparison of superior-level facet joint violations between robot-assisted percutaneous pedicle screw placement and conventional open fluoroscopic-guided pedicle screw placement[J]. Orthop Surg, 2019, 11(5): 850-856.
[35] Hu X, Lieberman IH. What is the learning curve for robotic-assisted pedicle screw placement in spine surgery? [J] Clin Orthop Relat Res, 2014, 472(6): 1839-1844.
[36] Kim MC, Chung HT, Cho JL, et al. Subsidence of polyetheretherketone cage after minimally invasive transforaminal lumbar interbody fusion[J]. J Spinal Disord Tech, 2013, 26(2): 87-92.
[37] Cui GY, Han XG, Wei Y, et al. Robot-assisted minimally invasive transforaminal lumbar interbody fusion in the treatment of lumbar spondylolisthesis[J]. Orthop Surg, 2021, 13(7): 1960-1968.
[38] Smith JS, Shaffrey CI, Sansur CA, et al. Rates of infection after spine surgery based on 108,419 procedures: a report from the Scoliosis Research Society Morbidity and Mortality Committee[J]. Spine(Phila Pa 1976), 2011, 36(7): 556-563.
[39] Garcia D, Akinduro OO, De Biase G, et al. Robotic-assisted vs nonrobotic-assisted minimally invasive transforaminal lumbar interbody fusion: a cost-utility analysis[J]. Neurosurgery, 2022, 90(2): 192-198.
[40] Zhang Q, Han XG, Xu YF, et al. Robot-assisted versus fluoroscopy-guided pedicle screw placement in transforaminal lumbar interbody fusion for lumbar degenerative disease[J]. World Neurosurg, 2019, 125: 429-434. doi: 10.1016/j.wneu.2019.01.097
[41] Schröder ML, Staartjes VE. Revisions for screw malposition and clinical outcomes after robot-guided lumbar fusion for spondylolisthesis[J]. Neurosurg Focus, 2017, 42(5): E12. doi: 10.3171/2017.3.FOCUS16534
[42] 朱晓龙, 王建, 周跃, 等. 微创经椎间孔腰椎体间融合术的围手术期并发症[J]. 中国脊柱脊髓杂志, 2016, 26(4): 304-309. ZHU Xiaolong, WANG Jian, ZHOU Yue, et al. Perioperative complications of minimally invasive transforaminal lumbar interbody fusion[J]. Chinese Journal of Spine and Spinal Cord, 2016, 26(4): 304-309.
[43] Babu R, Park JG, Mehta AI, et al. Comparison of superior-level facet joint violations during open and percutaneous pedicle screw placement[J]. Neurosurgery, 2012, 71(5): 962-970.
[44] Fogel GR, Toohey JS, Neidre A, et al Fusion assessment of posterior lumbar interbody fusion using radiolucent cages: X-ray films and helical computed tomography scans compared with surgical exploration of fusion[J]. Spine J, 2008, 8(4): 570-577.
[45] Lee K, Lee KM, Park MS, et al. Measurements of surgeons exposure to ionizing radiation dose during intraoperative use of C-arm fluoroscopy[J]. Spine(Phila Pa 1976), 2012, 37(14): 1240-1244.
[46] Riis J, Lehman RR, Perera RA, et al. A retrospective comparison of intraoperative CT and fluoroscopy evaluating radiation exposure in posterior spinal fusions for scoliosis[J]. Patient Saf Surg 2017, 11: 32. doi: 10.1186/s13037-017-0142-0
[47] De Biase G, Gassie K, Garcia D, et al. Perioperative comparison of robotic-assisted versus fluoroscopically guided minimally invasive transforaminal lumbar interbody fusion[J]. World Neurosurg, 2021, 149: 570-575. doi: 10.1016/j.wneu.2021.01.133
[48] Han XG, Tang GQ, Han X, et al. Comparison of outcomes between robot-assisted minimally invasive transforaminal lumbar interbody fusion and oblique lumbar interbody fusion in single-level lumbar spondylolisthesis[J]. Orthop Surg, 2021, 13(7): 2093-2101.
[49] Kochanski RB, Lombardi JM, Laratta JL, et al. Image-guided navigation and robotics in spine surgery[J]. Neurosurgery, 2019, 84(6): 1179-1189.
[50] Ver MLP, Gum JL, Crawford CH, et al. 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[J]. J Neurosurg Spine, 2020, 32(5): 741-747.
[51] Yang JS, He B, Tian F, et al. Accuracy of robot-assisted percutaneous pedicle screw placement for treatment of lumbar spondylolisthesis: a comparative cohort study[J]. Med Sci Monit, 2019, 25: 2479-2487. doi: 10.12659/MSM.913124
[52] Dalton T, Sykes D, Wang TY, et al. Robotic-assisted trajectory into kambins triangle during percutaneous transforaminal lumbar interbody fusion-initial case series investigating safety and efficacy[J]. Oper Neurosurg, 2021, 21(6): 400-408.
[53] Cui GY, Tian W, He D, et al. Effects of robot-assisted minimally invasive transforaminal lumbar interbody fusion and traditional open surgery in the treatment of lumbar spondylolisthesis[J]. Chinese Journal of Surgery, 2017, 55(7): 543-548.
[54] Lv Y, Chen M, Wang SL, et al. Endo-TLIF versus MIS-TLIF in 1-segment lumbar spondylolisthesis: a prospective randomized pilot study[J]. Clin Neurol Neurosurg, 2022, 212: 107082. doi: 10.1016/j.clineuro.2021.107082
[55] Gong J, Huang X, Luo L, et al. Radiation dose reduction and surgical efficiency improvement in endoscopic transforaminal lumbar interbody fusion assisted by intraoperative o-arm navigation: a retrospective observational study[J]. Neurospine, 2022, 19(2): 376-384.
[56] Porche K, Samra R, Melnick K, et al. Enhanced recovery after surgery(ERAS)for open transforaminal lumbar interbody fusion: a retrospective propensity-matched cohort study[J]. Spine J, 2022, 22(3): 399-410.
[57] Cheh G, Bridwell KH, Lenke LG, et al. Adjacent segment disease followinglumbar/thoracolumbar fusion with pedicle screw instrumentation: a minimum 5-year follow-up[J]. Spine(Phila Pa 1976), 2007, 32(20): 2253-2257.
[1] 中国医师协会骨科医师分会智能骨科学组,中华预防医学会脊柱疾病预防与控制专业委员会脊柱脊髓损伤疾病预防与控制学组. 人工智能脊柱退变影像学测量位点与标注专家共识(2025)[J]. 山东大学学报 (医学版), 2026, 64(2): 1-10.
[2] 山东省腔镜外科质量控制中心胸腔镜委员会. 山东省VATS/RATS非小细胞肺癌围术期质量控制指标专家共识(2025版)[J]. 山东大学学报 (医学版), 2025, 63(12): 1-5.
[3] 山东省医学会乳腺疾病多学科联合委员会. 乳腺癌多学科协作诊疗山东共识(2024年版)[J]. 山东大学学报 (医学版), 2025, 63(1): 10-16.
[4] 梁博文,陆清声. 机器人辅助主动脉腔内修复术的进展[J]. 山东大学学报 (医学版), 2024, 62(9): 61-65.
[5] 林晓倩,封茂燕,牟正. 二肽基肽酶-4抑制剂的药学特点及临床应用[J]. 山东大学学报 (医学版), 2024, 62(12): 43-48.
[6] 华裔骨科学会骨科康复专业委员会. 全膝关节置换术后膝关节功能加速康复专家共识[J]. 山东大学学报 (医学版), 2024, 62(10): 48-61.
[7] 执笔专家: 班艳丽, 赵颖, 李桦, 刘薇, 荣风年, 赵淑萍, 崔保霞. 剖宫产子宫瘢痕妊娠实用临床分型诊治专家共识[J]. 山东大学学报 (医学版), 2023, 61(11): 1-10.
[8] 马翔,赵飞燕. 。卵子冷冻保存现状与进展[J]. 山东大学学报 (医学版), 2022, 60(9): 19-23.
[9] 王传新. 肿瘤液体活检[J]. 山东大学学报 (医学版), 2021, 59(9): 64-71.
[10] 黄平,商红国. 数字化种植导板在下颌后牙区连续多牙缺失下的临床应用[J]. 山东大学学报 (医学版), 2020, 58(2): 60-63.
[11] 许玲,孙岩,陈良,王锡温. 混合现实技术在侧颅底良性肿瘤手术中的应用[J]. 山东大学学报 (医学版), 2020, 58(1): 31-38.
[12] 王延洲. 单孔腹腔镜技术在妇科恶性肿瘤中的应用体会[J]. 山东大学学报 (医学版), 2019, 57(12): 15-19.
[13] 种铁,陈琦. 米拉贝隆治疗膀胱过度活动症的临床应用[J]. 山东大学学报 (医学版), 2018, 56(3): 6-11.
[14] 中国医师协会检验医师分会肺癌检验医学专家委员会. 肺癌实验室诊断专家共识[J]. 山东大学学报 (医学版), 2018, 56(10): 9-17.
Viewed
Full text


Abstract

Cited

  Shared   
  Discussed   
No Suggested Reading articles found!