A semi-autonomous robot control based on bone layer transition detection for a safe pedicle tapping.
Human-in-the-loop control
Robotic surgery
Spinal surgery
Tapping procedure
Journal
International journal of computer assisted radiology and surgery
ISSN: 1861-6429
Titre abrégé: Int J Comput Assist Radiol Surg
Pays: Germany
ID NLM: 101499225
Informations de publication
Date de publication:
Oct 2023
Oct 2023
Historique:
received:
29
09
2022
accepted:
13
02
2023
medline:
13
9
2023
pubmed:
7
3
2023
entrez:
6
3
2023
Statut:
ppublish
Résumé
Automatic robotic platforms for robot-aided spinal surgery are mostly employed for drilling the pedicle screw path and do not adapt the tool rotational speed depending on the variation of the bone density. This feature is highly desirable in control strategies for robot-aided pedicle tapping, which may result in a poor quality thread if the surgical tool speed is not adequately tuned depending on the bone density to be threaded. Therefore, the objective of this paper is to propose a novel semi-autonomous control for robot-aided pedicle tapping that is able to (i) identify the bone layer transition, (ii) adapt the tool velocity depending on the detected bone layer density and (iii) stop the tool tip before propulsion of the bone boundaries. The proposed semi-autonomous control for pedicle tapping consists of: (i) a hybrid position/force control loop that allows the surgeon to move the surgical tool along a pre-planned axis and (ii) a velocity control loop that allows him/her to finely tune the tool rotational speed by modulating the tool-bone interaction force along the same axis. The velocity control loop integrates also a bone layer transition detection algorithm that dynamically limits the tool velocity depending on the bone layer density. The approach was tested on the Kuka LWR4+ provided with an actuated surgical tapper which was used to tap a wood specimen simulating the bone layer density characteristics and bovine bones. A normalized maximum time delay in the bone layer transition detection of 0.25 was achieved by the experiments. A success rate of [Formula: see text] was achieved for all the tested tool velocities. The proposed control achieved a maximum steady-state error of 0.4 rpm. The study demonstrated high capability of the proposed approach to i) promptly detect transition among the specimen layers and ii) adapt the tool velocities depending on the detected layers.
Identifiants
pubmed: 36877289
doi: 10.1007/s11548-023-02855-9
pii: 10.1007/s11548-023-02855-9
doi:
Types de publication
Journal Article
Langues
eng
Sous-ensembles de citation
IM
Pagination
1745-1755Subventions
Organisme : HORIZON EUROPE Framework Programme
ID : CUP: C85F21000670006
Informations de copyright
© 2023. CARS.
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