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首页> 外文期刊>Mechatronics: The Science of Intelligent Machines >Localization of drilling tool position through bone tissue identification during surgical drilling
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Localization of drilling tool position through bone tissue identification during surgical drilling

机译:通过手术钻井期间骨组织识别钻孔工具位置的定位

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摘要

This paper proposes a detection method to identify the drill bit position during assisted bone drilling. A platform has been developed to support the surgeon in the planning of the drilling path. Albeit constrained along a fixed trajectory, the advancement of the drilling tool is manual, in order to preserve the natural haptic perception of the surgeon, who remains in charge of modulating the drilling force and the feeding rate according to the position of the drill bit in the bone. This paper describes a custom drill, embedded with force and position sensors, which allows the evaluation of a new parameter, referred to as Average Impedance (AI), that is related to the mechanical properties of the tissues in contact with the drill bit. An algorithm for layer identification has been implemented based on the variability of the AI signal. In perspective, the AI can provide the surgeon with additional information about the position of the drill bit in the bone, in order to increase the safety level of the procedure. The algorithm has been tested ex-vivo on swine bones. The tests demonstrated a reliability better than 80% in the discrimination of bone tissues.
机译:本文提出了一种检测方法来识别辅助骨钻孔期间的钻头位置。已经开发了一个平台来支持外科医生在规划钻孔路径。尽管沿着固定的轨迹约束,钻孔工具的进步是手动,以便保持对外科医生的自然触觉感知,其仍然根据钻头的位置调节钻孔力和馈电速率骨头。本文介绍了一种定制钻头,嵌入有力和位置传感器,其允许评估作为平均阻抗(AI)的新参数,其与与钻头接触的组织的机械性质有关。基于AI信号的可变性实现了一种用于层识别的算法。在透视程中,AI可以提供外科医生,其具有关于骨骼中钻头位置的附加信息,以提高程序的安全水平。该算法已经在猪骨上进行了ex-Vivo。该测试在骨组织的识别中显示了优于80%的可靠性。

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