Title :
Real-time break-through detection of bone drilling based on wavelet transform for robot assisted orthopaedic surgery
Author :
Lin Qi ; Meng, Max Q.-H
Author_Institution :
Dept. of Electron. Eng, Chinese Univ. of Hong Kong, Hong Kong, China
Abstract :
To improve the safety during the robot assisted orthopaedic surgery, the authors propose an algorithm to detect the break-through of twist drill bit for the bone drilling based on wavelet transform. The drilling force is recorded and real-time discrete wavelet transform is applied. The key part of the algorithm uses the search of modulus maxima along different wavelet transform scales to find the singularity of the force signal for detecting the break-through. The in-vitro drilling experiments are performed to validate the proposed algorithm.
Keywords :
bone; discrete wavelet transforms; drilling; medical robotics; safety; surgery; bone drilling; discrete wavelet transform; drilling force recording; in-vitro drilling experiments; modulus maxima; real-time break-through detection; robot assisted orthopaedic surgery; safety improvement; twist drill bit; Bones; Discrete wavelet transforms; Drilling machines; Force; Robots;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2014 IEEE International Conference on
DOI :
10.1109/ROBIO.2014.7090396