1 research outputs found
Model-Based Compensation of Moving Tissue for State Recognition in Robotic-Assisted Pedicle Drilling
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