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Kinematics and cooperative control of a robotic spinal surgery system

Published online by Cambridge University Press:  18 June 2014

Haiyang Jin ,
Ying Hu ,
Wei Tian ,
Peng Zhang ,
Zhangjun Song ,
Jianwei Zhang  and
Bing Li
Haiyang Jin
Affiliation:
Shenzhen Graduate School, Harbin Institute of Technology, Shenzhen, China
Ying Hu
Affiliation:
Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of sciences, Shenzhen, China The Chinese University of Hong Kong, Hong Kong, China
Wei Tian*
Affiliation:
Department of Spine Surgery, Beijing Jishuitan Hospital, Tsinghua University, Beijing, China
Peng Zhang
Affiliation:
Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of sciences, Shenzhen, China The Chinese University of Hong Kong, Hong Kong, China
Zhangjun Song
Affiliation:
Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of sciences, Shenzhen, China The Chinese University of Hong Kong, Hong Kong, China
Jianwei Zhang
Affiliation:
Department of Informatics, University of Hamburg, Hamburg, Germany
Bing Li*
Affiliation:
Shenzhen Graduate School, Harbin Institute of Technology, Shenzhen, China
*
*Corresponding author. E-mail: tianweia@vip.163.com, libing.sgs@hit.edu.cn
*Corresponding author. E-mail: tianweia@vip.163.com, libing.sgs@hit.edu.cn
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Summary

Spinal surgery is considered a high-risk surgery. To improve the accuracy, stability, and safety of such operations, we report the development of a novel six-degrees-of-freedom Robotic Spinal Surgical System that can assist surgeons in performing transpedicular surgery, one of the most common spinal surgeries. After optimization performed using Response Surface Methodology, the largest available workspace of the robot is determined and is found to easily cover the entire operation area. Cooperative control and navigation-based active control are implemented for different processes of the operation. We propose a hybrid control approach based on the speed and torque interface at the joint level. In this mode, the robot is compliant in Cartesian space, benefitting both the accuracy and efficiency of the operation. A comprehensive assessment index, combining the subjective and objective criteria in terms of positioning and operation efficiency, is proposed to compare the performance of cooperative control in speed mode, torque mode, and hybrid control mode. Active fine adjustment experiments are carried out to verify the positioning accuracy, and the results are found to satisfy the requirements of operation. As an application example, a pedicle screw insertion experiment is performed on a pig vertebral bone, demonstrating the effectiveness of our system.

Keywords

Robotic spinal surgical systemSpinal surgeryKinematicsWorkspace analysisCooperative controlComprehensive assessment index
Type
Articles
Information
Robotica , Volume 34 , Issue 1 , January 2016 , pp. 226 - 242
Copyright
Copyright © Cambridge University Press 2014 

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