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Force-based control of a compact spinal milling robot
Wang, Tianmiao1; Luan, Sheng1; Hu, Lei1,3; Liu, Zhongjun2; Li, Weishi2; Jiang, Liang2
关键词spinal milling force-based control intraoperative monitoring robot surgery
刊名INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY
2010-06-01
DOI10.1002/rcs.304
6期:2页:178-185
收录类别SCI
文章类型Article
WOS标题词Science & Technology
类目[WOS]Surgery
研究领域[WOS]Surgery
关键词[WOS]ORTHOPEDIC-SURGERY ; DRILLING TOOL ; BONE ; BREAKTHROUGH ; ARTHROPLASTY ; SYSTEM
英文摘要

Background Spine-milling operation during laminectomy surgery requires steady manipulation and intraoperative monitoring. A spinal milling robot with force-based control is introduced to improve the operation safety.

Method The robot is designed with compact structure and simple configuration. Real-time thrust force is measured and three stages corresponding to the anatomical structures of the vertebra are identified, based on the analysis of typical characteristic parameters of the force profiles. The cross-correlation to the standard profiles are adopted to judge the milling status. A 1 mm margin is prescribed to stop the procedure before the lamina is thoroughly milled through.

Results Automatic robot-milling experiments on porcine vertebrae are conducted, based on the force-based control method, and the procedure is stopped when the critical condition is met. The average thickness of the milled part is 1.1 mm, and no penetration occurs.

Conclusion The spinal milling robot could provide steady manipulation, facilitate the surgeon′s labour with an automatic feeding process and improve the safety of the operation with enhanced monitoring. Copyright (C) 2010 John Wiley & Sons, Ltd.

语种英语
WOS记录号WOS:000278581700008
项目编号60525314 ; 2006BAI03A16 ; 2007BAI07A23 ; SKLRS200714 ; H060720050230 ; 2008AA040205
资助机构National Science Fund for Distinguished Young Scholars ; National Key Technology RD Program ; State Key Laboratory Program ; Beijing Science and Technology Program ; National High Technology Research and Development Program of China
引用统计
被引频次:21[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.bjmu.edu.cn/handle/400002259/65921
专题北京大学第三临床医学院_骨科
作者单位1.State Key Lab Robot & Syst HIT, Harbin, Peoples R China
2.Peking Univ, Hosp 3, Dept Orthopaed, Beijing 100871, Peoples R China
3.Beihang Univ, Inst Robot, Beijing 100191, Peoples R China
推荐引用方式
GB/T 7714
Wang, Tianmiao,Luan, Sheng,Hu, Lei,et al. Force-based control of a compact spinal milling robot[J]. INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY,2010,6(2):178-185.
APA Wang, Tianmiao,Luan, Sheng,Hu, Lei,Liu, Zhongjun,Li, Weishi,&Jiang, Liang.(2010).Force-based control of a compact spinal milling robot.INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY,6(2),178-185.
MLA Wang, Tianmiao,et al."Force-based control of a compact spinal milling robot".INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY 6.2(2010):178-185.
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