Title :
Spinal physiological motion simulator and compensation method for a robotic spinal surgical system
Author :
Bing Li ; Haiyang Jin ; Min Fang ; Ying Hu ; Peng Zhang
Author_Institution :
Shenzhen Grad. Sch., Harbin Inst. of Technol., Shenzhen, China
Abstract :
During spinal surgery, spinal physiological motion (SPM) due to respiration can interfere with the operation. The patient is anesthetized and breathes passively with the aid of a respirator, causing periodic SPM. In this paper, a respiratory model based on the respirator flow waves is proposed; and a spinal physiological motion simulator (SPMS), which is based on a 3-RPS parallel mechanism, is developed for simulating the SPM due to the respiratory model. For compensating the SPM, a compensation algorithm based on weighted frequency linear combiner (WFLC), which can adapt to variation in the frequency and amplitude of a quasi-periodic signal, is used for a robotic surgical system in this paper. And finally, two experiments were carried out, one is to analyze the SPMS error and the other is to validate SPM compensation using the compensation algorithm.
Keywords :
medical robotics; motion compensation; neurophysiology; respiratory protection; surgery; 3-RPS parallel mechanism; SPM compensation; SPMS error; WFLC; compensation method; periodic SPM; quasiperiodic signal amplitude; quasiperiodic signal frequency; respirator flow waves; respiratory model; robotic spinal surgical system; spinal physiological motion simulator; weighted frequency linear combiner; Lungs; Motion compensation; Physiology; Prediction algorithms; Robots; Surgery; Tracking; 3-PRS; WFLC; motion compensation; physiological motion; surgical robot;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2014 IEEE International Conference on
DOI :
10.1109/ROBIO.2014.7090335
