Multilevel Fuzzy Control Based on Force Information in Robot-assisted Decompressive Laminectomy
文献类型：期刊论文
| 作者 | Xiaozhi Qi; Yu Sun; Xiaohang Ma; Ying Hu; Jianwei Zhang; Wei Tian |
| 刊名 | Advances in Experimental Medicine and Biology
 |
| 出版日期 | 2018 |
| 文献子类 | 期刊论文 |
| 英文摘要 | The lumbar spinal stenosis (LSS) is a kind of orthopedic disease which causes a series of neurological symptom. Vertebral lamina grinding operation is a key procedure in decompressive laminectomy for LSS treatment. With the help of image-guided navigation system, the robot-assisted technology is applied to reduce the burdens on surgeon and improve the accuracy of the operation. This paper proposes a multilevel fuzzy control based on force information in the robotassisted decompressive laminectomy to improve the quality and the robotic dynamic performance in surgical operation. The controlled grinding path is planned in the medical images after 3D reconstruction, and the mapping between robot and images is realized by navigation registration. Multilevel fuzzy controller is used to adjust the feed rate to keep the grinding force stable. As the vertebral lamina contains different components according to the anatomy, it has different mechanical properties as the main reason causing the fluctuation of force. A feature extraction method for texture recognition of bone is introduced to improve the accuracy of component classification. When the inner cortical bone is reached, the feeding operation needs to stop to avoid penetration into spinal cord and damage to the spinal nerves. Experiments are conducted to evaluate the dynamic stabilities of the control system and state recognition. |
| URL标识 | 查看原文 |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/13533]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 推荐引用方式 GB/T 7714 | Xiaozhi Qi,Yu Sun,Xiaohang Ma,et al. Multilevel Fuzzy Control Based on Force Information in Robot-assisted Decompressive Laminectomy[J]. Advances in Experimental Medicine and Biology,2018. |
| APA | Xiaozhi Qi,Yu Sun,Xiaohang Ma,Ying Hu,Jianwei Zhang,&Wei Tian.(2018).Multilevel Fuzzy Control Based on Force Information in Robot-assisted Decompressive Laminectomy.Advances in Experimental Medicine and Biology. |
| MLA | Xiaozhi Qi,et al."Multilevel Fuzzy Control Based on Force Information in Robot-assisted Decompressive Laminectomy".Advances in Experimental Medicine and Biology (2018). |
入库方式： OAI收割
来源：深圳先进技术研究院
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