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Grinding trajectory generator in robot-assisted laminectomy surgery

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International Journal of Computer Assisted Radiology and Surgery Aims and scope Submit manuscript

Abstract

Purpose

Grinding trajectory planning for robot-assisted laminectomy is a complicated and cumbersome task. The purpose of this research is to automatically obtain the surgical target area from the CT image, and based on this, formulate a reasonable robotic grinding trajectory.

Methods

We propose a deep neural network for laminae positioning, a trajectory generation strategy, and a grinding speed adjusting strategy. These algorithms can obtain surgical information from CT images and automatically complete grinding trajectory planning.

Results

The proposed laminae positioning network can reach a recognition accuracy of 95.7%, and the positioning error is only 1.12 mm in the desired direction. The simulated surgical planning on the public dataset has achieved the expected results. In a set of comparative robotic grinding experiments, those using the speed adjustment algorithm obtained a smoother grinding force.

Conclusion

Our work can automatically extract laminar centers from the CT image precisely to formulate a reasonable surgical trajectory plan. It simplifies the surgical planning process and reduces the time needed for surgeons to perform such a cumbersome operation manually.

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Funding

This work was supported by the Chinese National High Technology Research and Development Program (863) under Grant 2015AA043201.

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Authors and Affiliations

  1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China

    Qian Li, Zhijiang Du & Hongjian Yu

Authors
  1. Qian Li
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  2. Zhijiang Du
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  3. Hongjian Yu
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Corresponding author

Correspondence to Hongjian Yu.

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Conflict of interest

The authors declare that they have no conflict of interest.

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This article does not contain any studies with human participants or animals.

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Cite this article

Li, Q., Du, Z. & Yu, H. Grinding trajectory generator in robot-assisted laminectomy surgery. Int J CARS 16, 485–494 (2021). https://doi.org/10.1007/s11548-021-02316-1

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  • DOI: https://doi.org/10.1007/s11548-021-02316-1

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