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

Jiang Z, Lei L, Sun Y, Qi X, Hu Y, Li B, Navab N, Zhang J (2020)

Publication Type: Journal article

Publication year: 2020

Journal

IEEE Transactions on Medical Robotics and Bionics IEEE

Book Volume: 2

Pages Range: 463-473

Article Number: 9109337

Journal Issue: 3

DOI: 10.1109/TMRB.2020.3000299

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.

Involved external institutions

Technische Universität München (TUM) DE Germany (DE) Harbin Institute of Technology (HIT) / 哈工大 CN China (CN) Chinese Academy of Sciences (CAS) / 中国科学院 CN China (CN) Universität Hamburg (UHH) DE Germany (DE)

How to cite

APA:

Jiang, Z., Lei, L., Sun, Y., Qi, X., Hu, Y., Li, B.,... Zhang, J. (2020). Model-Based Compensation of Moving Tissue for State Recognition in Robotic-Assisted Pedicle Drilling. IEEE Transactions on Medical Robotics and Bionics, 2(3), 463-473. https://doi.org/10.1109/TMRB.2020.3000299

MLA:

Jiang, Zhongliang, et al. "Model-Based Compensation of Moving Tissue for State Recognition in Robotic-Assisted Pedicle Drilling." IEEE Transactions on Medical Robotics and Bionics 2.3 (2020): 463-473.

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