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International Journal of Computer Assisted Radiology and Surgery

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28-01-2021 | Original Article

Grinding trajectory generator in robot-assisted laminectomy surgery

Authors: Qian Li, Zhijiang Du, Hongjian Yu

Published in: International Journal of Computer Assisted Radiology and Surgery | Issue 3/2021

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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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Title: Grinding trajectory generator in robot-assisted laminectomy surgery
Authors: Qian Li
Zhijiang Du
Hongjian Yu
Publication date: 28-01-2021
Publisher: Springer International Publishing
Published in: International Journal of Computer Assisted Radiology and Surgery / Issue 3/2021
Print ISSN: 1861-6410
Electronic ISSN: 1861-6429
DOI: https://doi.org/10.1007/s11548-021-02316-1

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Abstract

Purpose

Methods

Results

Conclusion

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