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In pedicle screw insertion surgeries, the most dangerous part is the screw path drilling process. In current surgeries, surgeons guarantee not to drill through the vertebra by their haptic and auditory sense and experience. In this paper, an intraoperative real-time control method for a Robotic Spinal Surgical System (RSSS) with state sensing is proposed. A drilling state recognition with Audio-Torque...
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)...
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