Force Perception and Bone Recognition of Vertebral Lamina Milling by Robot-Assisted Ultrasonic Bone Scalpel Based on Backpropagation Neural Network
With the development of artificial intelligence technologies, spine-surgery robots have gradually been applied in clinical practice, and they have exhibited favorable development prospects. Force perception technology can be used to obtain the milling force, quantify the tactile sensation of a surge...
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doaj-77b784817eae4a3496e969b2cffdda652021-04-08T23:00:26ZengIEEEIEEE Access2169-35362021-01-019521015211210.1109/ACCESS.2021.30695499389536Force Perception and Bone Recognition of Vertebral Lamina Milling by Robot-Assisted Ultrasonic Bone Scalpel Based on Backpropagation Neural NetworkHao Qu0Baoduo Geng1Bingrong Chen2Jian Zhang3Yongliang Yang4https://orcid.org/0000-0002-3144-8604Lei Hu5Yu Zhao6https://orcid.org/0000-0001-9025-2014Department of Orthopedics, Peking Union Medical College Hospital, Chinese Academy of Medical Sciences and Peking Union Medical College, Beijing, ChinaSchool of Mechanical Engineering and Automation, Beihang University, Beijing, ChinaDepartment of Orthopedics, Peking Union Medical College Hospital, Chinese Academy of Medical Sciences and Peking Union Medical College, Beijing, ChinaSchool of Mechanical Engineering and Automation, Beihang University, Beijing, ChinaState Key Laboratory of Internet of Things for Smart City, Faculty of Science and Technology, University of Macau, Macau, ChinaSchool of Mechanical Engineering and Automation, Beihang University, Beijing, ChinaDepartment of Orthopedics, Peking Union Medical College Hospital, Chinese Academy of Medical Sciences and Peking Union Medical College, Beijing, ChinaWith the development of artificial intelligence technologies, spine-surgery robots have gradually been applied in clinical practice, and they have exhibited favorable development prospects. Force perception technology can be used to obtain the milling force, quantify the tactile sensation of a surgeon, and provide feedback or suggestions to the surgeon and robot for safe milling. In this study, a robotic system is proposed to measure the vertebral lamina milling force by using an ultrasonic bone scalpel to realize a safe milling strategy. The developed bone recognition model based on the backpropagation neural network is suitable for robot-assisted vertebral lamina milling using the milling delamination and recognition algorithm analysis. The model uses the characteristic milling force, milling speed, milling depth, and ultrasonic scalpel power as inputs to determine whether milling has reached the inner cortical bone to recognize and judge bone layers. The verification experiment on live animals showed that this model could accurately determine a safe milling endpoint. In general, this recognition model can significantly improve the safety and reliability of robot-assisted laminectomy and has significant translational prospects.https://ieeexplore.ieee.org/document/9389536/Bone recognitionforce perceptionneural networkrobotultrasonic scalpelvertebral lamina |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Hao Qu Baoduo Geng Bingrong Chen Jian Zhang Yongliang Yang Lei Hu Yu Zhao |
spellingShingle |
Hao Qu Baoduo Geng Bingrong Chen Jian Zhang Yongliang Yang Lei Hu Yu Zhao Force Perception and Bone Recognition of Vertebral Lamina Milling by Robot-Assisted Ultrasonic Bone Scalpel Based on Backpropagation Neural Network IEEE Access Bone recognition force perception neural network robot ultrasonic scalpel vertebral lamina |
author_facet |
Hao Qu Baoduo Geng Bingrong Chen Jian Zhang Yongliang Yang Lei Hu Yu Zhao |
author_sort |
Hao Qu |
title |
Force Perception and Bone Recognition of Vertebral Lamina Milling by Robot-Assisted Ultrasonic Bone Scalpel Based on Backpropagation Neural Network |
title_short |
Force Perception and Bone Recognition of Vertebral Lamina Milling by Robot-Assisted Ultrasonic Bone Scalpel Based on Backpropagation Neural Network |
title_full |
Force Perception and Bone Recognition of Vertebral Lamina Milling by Robot-Assisted Ultrasonic Bone Scalpel Based on Backpropagation Neural Network |
title_fullStr |
Force Perception and Bone Recognition of Vertebral Lamina Milling by Robot-Assisted Ultrasonic Bone Scalpel Based on Backpropagation Neural Network |
title_full_unstemmed |
Force Perception and Bone Recognition of Vertebral Lamina Milling by Robot-Assisted Ultrasonic Bone Scalpel Based on Backpropagation Neural Network |
title_sort |
force perception and bone recognition of vertebral lamina milling by robot-assisted ultrasonic bone scalpel based on backpropagation neural network |
publisher |
IEEE |
series |
IEEE Access |
issn |
2169-3536 |
publishDate |
2021-01-01 |
description |
With the development of artificial intelligence technologies, spine-surgery robots have gradually been applied in clinical practice, and they have exhibited favorable development prospects. Force perception technology can be used to obtain the milling force, quantify the tactile sensation of a surgeon, and provide feedback or suggestions to the surgeon and robot for safe milling. In this study, a robotic system is proposed to measure the vertebral lamina milling force by using an ultrasonic bone scalpel to realize a safe milling strategy. The developed bone recognition model based on the backpropagation neural network is suitable for robot-assisted vertebral lamina milling using the milling delamination and recognition algorithm analysis. The model uses the characteristic milling force, milling speed, milling depth, and ultrasonic scalpel power as inputs to determine whether milling has reached the inner cortical bone to recognize and judge bone layers. The verification experiment on live animals showed that this model could accurately determine a safe milling endpoint. In general, this recognition model can significantly improve the safety and reliability of robot-assisted laminectomy and has significant translational prospects. |
topic |
Bone recognition force perception neural network robot ultrasonic scalpel vertebral lamina |
url |
https://ieeexplore.ieee.org/document/9389536/ |
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