A trajectory planning method of vertebral plate grinding of spine surgery robot

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

doi:10.1117/12.2625321

12 December 2021 A trajectory planning method of vertebral plate grinding of spine surgery robot

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

Proceedings Volume 12127, International Conference on Intelligent Equipment and Special Robots (ICIESR 2021); 121271E (2021) https://doi.org/10.1117/12.2625321
Event: International Conference on Intelligent Equipment and Special Robots (ICIESR 2021), 2021, Qingdao, China

Abstract

Laminar decompression surgery is the most common operation in spinal surgery, and it is also considered to be one of the most risky and most difficult operations. In recent years, medical robots have become a hot topic in assisting doctors in laminar flow grinding operations during spinal surgery. In this paper, a spine surgery robot system is established, and the kinematics analysis, workspace and singularity analysis of the 6-DOF surgical robot are carried out. An efficient motion-constrained grinding strategy plan was formulated. In order to verify the feasibility of the strategy, the two grinding plans were compared through the established spinal surgery robot system. The results showed that the efficient grinding strategy has high efficiency and low heat generation. This method can not only reduce the trauma to the patient's bone tissue, but also improve the overall accuracy and efficiency of bone grinding.

Citation Download Citation

Heqiang Tian, Jingbo Pan, Yu Gao, Bin Tian, Debao Meng, Minghui Zhang, Haiqiang Zhang, and Yanan Yao "A trajectory planning method of vertebral plate grinding of spine surgery robot", Proc. SPIE 12127, International Conference on Intelligent Equipment and Special Robots (ICIESR 2021), 121271E (12 December 2021); https://doi.org/10.1117/12.2625321

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $17.00

Non-members: $21.00 ADD TO CART

PROCEEDINGS
7 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Surgery

Bone

Kinematics

Spine

Sensors

Analytical research

Robotic systems

Show All Keywords

Keywords/Phrases

Search In:

Publication Years