Fig. 4From: Minimally invasive trans-superior articular process percutaneous endoscopic lumbar discectomy with robot assistanceĀ Process of puncture assisted by robotic system. AĀ The robotic arm holds a spinal needle guided by the optimal trajectory for puncture after synthetizing image data. B and C) AP and lateral fluoroscopic images are obtained to confirm the position of the tip of the spinal needle after punctureBack to article page