Model-Based Compensation of Moving Tissue for State Recognition in Robotic-Assisted Pedicle Drilling

被引：8

作者：

Jiang, Zhongliang ^{[1
,2
]}

Lei, Long ^{[3
]}

Sun, Yu ^{[3
]}

Qi, Xiaozhi ^{[2
]}

Hu, Ying ^{[2
]}

Li, Bing ^{[3
]}

Navab, Nassir ^{[1
,4
]}

Zhang, Jianwei ^{[5
]}

机构：

[1] Tech Univ Munich, Comp Aided Med Procedures, D-85748 Munich, Germany

[2] Chinese Acad Sci, Shenzhen Inst Adv Technol, Shenzhen 518055, Peoples R China

[3] Harbin Inst Technol, Sch Mech Engn & Automat, Shenzhen 518052, Peoples R China

[4] Johns Hopkins Univ, Dept Comp Sci, Baltimore, MD 21218 USA

[5] Univ Hamburg, Dept Informat, Tech Aspects Multimodal Syst, D-22527 Hamburg, Germany

来源：

IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS | 2020年 / 2卷 / 03期

基金：

中国国家自然科学基金;

关键词：

Surgical robotics; medical robotics; robot-assisted spinal surgery; surgical state recognition; parameter identification; vertebra motion model;

D O I：

10.1109/TMRB.2020.3000299

中图分类号：

R318 [生物医学工程];

学科分类号：

0831 ;

摘要：

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.

引用

页码：463 / 473

页数：11

共 40 条

[1] Lung and chest wall mechanics during exercise: Effects of expiratory flow limitation [J].

Aliverti, Andrea .

RESPIRATORY PHYSIOLOGY & NEUROBIOLOGY, 2008, 163 (1-3) :90-99

[2] Active Stabilization for Robotized Beating Heart Surgery [J].

Bachta, Wael ;

Renaud, Pierre ;

Laroche, Edouard ;

Forgione, Antonello ;

Gangloff, Jacques .

IEEE TRANSACTIONS ON ROBOTICS, 2011, 27 (04) :757-768

[3]

Bauer S., 2009, SIMPACK NEWS, P18

[4]

Boschetti G, 2005, IEEE INTL CONF CONTR, P19

[5]

Chung G. B., 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566), P3942

[6] Pedicle instrumentation in the thoracic spine - A morphometric and cadaveric study for placement of screws [J].

Cinotti, G ;

Gumina, S ;

Ripani, M ;

Postacchini, F .

SPINE, 1999, 24 (02) :114-119

[7] Robot Force Control on a Beating Heart [J].

Cortesao, Rui ;

Dominici, Michel .

IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2017, 22 (04) :1736-1743

[8] Milling State Identification Based on Vibration Sense of a Robotic Surgical System [J].

Dai, Yu ;

Xue, Yuan ;

Zhang, Jianxun .

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2016, 63 (10) :6184-6193

[9] Vibration-Based Milling Condition Monitoring in Robot-Assisted Spine Surgery [J].

Dai, Yu ;

Xue, Yuan ;

Zhang, Jianxun .

IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2015, 20 (06) :3028-3039

[10] Noncontact Vibration Measurement Based Thoracic Spine Condition Monitoring During Pedicle Drilling [J].

Dai, Yu ;

Xue, Yuan ;

Zhang, Jianxun .

IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2014, 19 (05) :1532-1540

← 1 2 3 4 →