A bone recognition method of vertebral plate grinding of spine surgery robot

Heqiang Tian; Yu Gao; Jingbo Pan; Debao Meng; Bin Tian; Minghui Zhang; Kan Shi; Yanan Yao

doi:10.1117/12.2625315

12 December 2021 A bone recognition method of vertebral plate grinding of spine surgery robot

Heqiang Tian, Yu Gao, Jingbo Pan, Debao Meng, Bin Tian, Minghui Zhang, Kan Shi, Yanan Yao

Proceedings Volume 12127, International Conference on Intelligent Equipment and Special Robots (ICIESR 2021); 1212716 (2021) https://doi.org/10.1117/12.2625315
Event: International Conference on Intelligent Equipment and Special Robots (ICIESR 2021), 2021, Qingdao, China

Abstract

In recent years, medical robots have become a hot spot. Robots assist doctors in spine surgery lamina grinding operations, and the depth of bone grinding on the market depends on the surgeon's hand feeling to perceive the bone layer. Aiming at the perception and recognition of bone layer in the process of lamina grinding, this paper proposes a grinding bone recognition method, constructs the unit energy consumption function of force, feed speed and other signals generated in the process of grinding, extracts its feature vector to represent the bone layer, and then uses the support vector machine method to train and recognize the bone, Finally, the feasibility of this method is verified by a 6-DOF grinding robot. Compared with traditional spine surgery robots, this method effectively improves the recognition accuracy of robot-assisted surgery and ensures the safe and smooth operation of the surgery.

Citation Download Citation

Heqiang Tian, Yu Gao, Jingbo Pan, Debao Meng, Bin Tian, Minghui Zhang, Kan Shi, and Yanan Yao "A bone recognition method of vertebral plate grinding of spine surgery robot", Proc. SPIE 12127, International Conference on Intelligent Equipment and Special Robots (ICIESR 2021), 1212716 (12 December 2021); https://doi.org/10.1117/12.2625315

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