Angulation error assessment for the trajectory in the anteroposterior and lateral fluoroscopic views during percutaneous endoscopic transforaminal lumbar discectomy.

Moreover, once the intraoperative sagittal CA and coronal CA are measured, the real CA and CACAP can be calculated precisely by the following formulae (derived from the previous formulae): If α = CA, β = CACAP, γ = sagittal CA, δ = coronal CA, then: β = a r c t a n tan δ tan γ α = a r c t a n tan δ × cos a r c t a n tan δ tan γ These formulae may be significant for verifying the angulation of the intraoperative trajectory, especially for applications of advanced technologies such as surgical navigation, surgical robotics, virtual reality, and augmented reality surgery systems, which require advanced preoperative trajectory design, intraoperative matching, and registration [ 20 ].

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