Design and Implementation of a Spine Robot System Based on Force Feedback
WANG Tian-miao1, ZHANG Jia-lei1, LIU Zhong-jun2, HU Lei1, LUAN Sheng1
1. School of Mechanical Engineering and Automation, Beihang University, Beijing 100083, China; 2. Peking University Third Hospital, Beijing 100083, China
王田苗, 张家磊, 刘忠军, 胡磊, 栾胜. 基于力反馈的脊柱外科机器人系统的设计与实现[J]. 机器人, 2007, 29(5): 463-468..
WANG Tian-miao, ZHANG Jia-lei, LIU Zhong-jun, HU Lei, LUAN Sheng. Design and Implementation of a Spine Robot System Based on Force Feedback. ROBOT, 2007, 29(5): 463-468..
Abstract：Aiming at solving the unsafety problem of milling vertebra wall in spine stenosis surgery,a spine robot system based on force feedback control strategy is introduced.The robot control system is composed of a detection and measurement subsystem to monitor the milling process,a motion and driving subsystem to execute the milling operation,and a control and display subsystem to render the milling information.On the basis of force features during the milling process of the spine vertebra wall,a robot control strategy based on force feedback is presented to assist doctors to operate safely in spine sur-gery.The simulation and milling experiments with simulated bones prove the feasibility of the spine robot based on force feedback control strategy.
[1] Lee W Y,Shih C L,Lee S T.Force control and breakthrough detection of a bone-drilling system[J].IEEE/ASME Transactions on Mechatronics,2004,9(1):20 -29.
[2] Plaskos C,Hodgson A J,Cinquin P.Modelling and optimization of bone-cutting forces in orthopaedic surgery[A].Proceedings of the 6th International Conference on Medical Image Computing and Computer-Assisted Intervention (Lecture Notes in Computer Science,vol.2879)[C].Heidelberg,Germany:Springer-Verlag,2003.254-261.
[3] Shoham M,Burman M,Zehavi E,et al.Bone-mounted miniature robot for surgical procedures:Concept and clinical applications[J].IEEE Transactions on Robotics and Automation,2003,19(5):893-901.
[4] Kneissler M,Hein A,Matzig M,et al.Concept and clinical evaluation of.navigated control in spine surgery[A].Proceedings of the 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics[C].Piscataway,NJ,USA:IEEE,2003.1084 -1089.
