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In order to achieve high safety of the surgery robot, this paper presents a vibration signal acquiring and processing method to estimate the tool position during bone milling process. The dynamic of surgical milling is analyzed theoretically, and then it is proved that the vibration magnitude of the milling device decreases when the burr is close to the bone boundary. During the real milling operation,...
One of the major challenge in spine surgery is successfully cutting the desired bony structure while avoiding injury to the vital anatomy such as the spinal cord. This paper presents a vibration signal processing method to discriminate different types of tissue in robot-assisted spine surgery. During bone milling process, the tissue vibration signal measured by a laser displacement sensor is decomposed...
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