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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 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...
In this paper a medical robot based on a 3-RPS parallel platform is presented for providing correct screw path in transpedicular fixation surgery. For improving the accuracy of the robot, a calibration approach for 3-RPS with CMM (Coordinate Measuring Instrument) data is developed. Sensitivity analysis of the error source had been done with Monte-Carlo techniques. The results show that the length...
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...
In this paper, we propose a framework to build prediction models from data streams which contain both labeled and unlabeled examples. We argue that due to the increasing data collection ability but limited resources for labeling, stream data collected at hand may only have a small number of labeled examples, whereas a large portion of data remain unlabeled but can be beneficial for learning. Unleashing...
Product conceptual design process modeling is a hot issue of engineering design field researches. Contradiction solving is the most important kind of problems to be solved and it is rooted philosophy in TRIZ. The essence of contradictions appeared in product structure is that there are conflicts between functions of a product. Contradiction in conceptual design is introduced, which can be solved by...
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