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Although Ilizarov technique and external fixators have been popular applied in bone fractures and orthopaedic surgery currently, there are few literatures about laws of bone-remodelling after osteotomy when applied external fixation system based on Wolff's law. However, Wolff's law is one of the most basic theories in bone biomechanics and fracture healing Therefore, exploring the healing mechanism...
Bone drilling is an important and difficult process in orthopedic surgeries. To detect the drilling state of a Robotic Orthopedic Surgery System (ROSS) in real-time, a state recognition method based on audio signals, the Acoustic Emission (AE) signals generated in drilling process, is proposed in this paper. By an analysis via power spectral density of the AE signals, an appropriate frequency band...
Screw path drilling is an important process among many orthopedic surgeries. To guarantee the safety and correctness of this process, a model-based drilling state recognition method is proposed in this paper. The thrust force in the drilling process is modeled based on an accurate 3D bone model restructured by means of Micro-CT images. In theoretical modeling of the thrust force, the resistance and...
Spinal orthopedic surgery is one of the typical high-risk surgeries. During the surgery, bone screws need to be inserted into the narrower vertebral pedicles and any failures in the screw-path-drilling process will directly hurt the important nerves and vessels of the patient. In this paper, a robotic spinal surgical system (RSSS) for assisting pedicle screw insertion surgery is proposed. The novel...
Bone milling is one of the most common operations in various kinds of orthopedical surgeries, such as laminectomy surgery. For safety issue and efficacy, it is very important to recognize the states in milling operation. In this paper, an approach to recognize the states of bone milling is proposed, which identify the cortical tissue layer and cancellous tissue layer. Hilbert-Huang Transform (HHT)...
In pedicle screw insertion surgeries, the drilling process of the screw path is very critical to decide the success of the surgery, as the hole is drilled on a very narrow area on the vertebral pedicle. In current manual surgeries, surgeons perform operation with monitoring the medical images in navigation system and sensing operation force. To simulate these abilities, in this paper, a bone-drilling...
A Pedicle Screws Surgical Robot (PSSR) can reduce the risk of spinal surgery and improve surgical precision, which plays an important role in promoting the medical care level of spinal surgery. A new type of PSSR is proposed in this paper, and the mechanical structure and its working principle are also introduced. The kinematics model of the robot is derived from D-H notation in order to obtain the...
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