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学科主题: 临床医学
题名:
Force-based control of a compact spinal milling robot
作者: 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
发表日期: 2010-06-01
DOI: 10.1002/rcs.304
卷: 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
所属项目编号: 60525314 ; 2006BAI03A16 ; 2007BAI07A23 ; SKLRS200714 ; H060720050230 ; 2008AA040205
项目资助者: 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
WOS记录号: WOS:000278581700008
Citation statistics:
内容类型: 期刊论文
URI标识: http://ir.bjmu.edu.cn/handle/400002259/65921
Appears in Collections:北京大学第三临床医学院_骨科_期刊论文

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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

Recommended Citation:
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.
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