Abstract
Drilling is one of the hardest parts of pedicle screw fixation, and it is one of the most dangerous operations because inaccurate screw placement would injury vital tissues, particularly when the vertebra is not stationary. Here we demonstrate the drilling state recognition method for moving tissue by compensating the displacement based on a simplified motion predication model of a vertebra with respect to the tidal volume. To adapt it to different patients, the prediction model was built based on the physiological data recorded from subjects themselves. In addition, the spindle speed of the drilling tool was investigated to find a suitable speed for the robotic-assisted system. To ensure patient safety, a monitoring system was built based on the thrusting force and tracked position information. Finally, experiments were carried out on a fresh porcine lamellar bone fixed on a 3-PRS parallel robot used to simulate the vertebra displacement. The success rate of the robotic-assisted drilling procedure reached 95% when the moving bone was compensated.
| Original language | English |
|---|---|
| Article number | 9109337 |
| Pages (from-to) | 463-473 |
| Number of pages | 11 |
| Journal | IEEE Transactions on Medical Robotics and Bionics |
| Volume | 2 |
| Issue number | 3 |
| DOIs | |
| State | Published - Aug 2020 |
| Externally published | Yes |
Keywords
- Surgical robotics
- medical robotics
- parameter identification
- robotassisted spinal surgery
- surgical state recognition
- vertebra motion model
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