DocumentCode
2807041
Title
Safety Design and Control Algorithm for Robotic Spinal Surgical System
Author
Jin, Haiyang ; Hu, Ying ; Li, Feng ; Zhang, Jianwei
Author_Institution
Shenzhen Inst. of Adv. Technol., Shenzhen, China
fYear
2011
fDate
21-23 Nov. 2011
Firstpage
190
Lastpage
194
Abstract
This paper is based on a new Robotic Spinal Surgical System (RSSS) we have developed in last 2 years. This robotic surgical system focuses on pedicle screw implanting surgery, but can be used on some other orthopedic surgeries. Some safety design principles are presented during development of the RSSS. In this paper, two main aspects of them based on force messages are described. One is admittance control, the other is safety control during drilling process. We perform experiments to build safety control experience formula and test its availability. Our works here will support subsequent clinical practice of the RSSS.
Keywords
drilling; health and safety; medical robotics; orthopaedics; surgery; admittance control; drilling process; orthopedic surgeries; pedicle screw implanting surgery; robotic spinal surgical system; safety control; safety design principles; Force; Haptic interfaces; Milling; Robot sensing systems; Safety; Surgery; FMECA; admittance control; dynamic force sense; spinal surgery;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot, Vision and Signal Processing (RVSP), 2011 First International Conference on
Conference_Location
Kaohsiung
Print_ISBN
978-1-4577-1881-6
Type
conf
DOI
10.1109/RVSP.2011.49
Filename
6114935
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