Autonomous penetration detection for bone cutting tool using demonstration-based learning

Abstract

In orthopedic surgery, bone-cutting procedures are frequently performed. However, bone-cutting procedures are very risky in cases where vital organs or nerves exist beneath the target bones. In such cases, surgeons are required to determine the depth of the penetration into the bone by using only their haptic senses. Thus, we developed a handheld bone-cutting-tool system that detects the penetration of the cutting material. The developed system autonomously detects the penetration before total penetration and stops the actuation of the cutting tool, leaving a very thin remnant of work material. The developed system estimates the cutting resistance by using its motor's current and rotational speed. On the basis of data collected preoperatively, the system estimates the cutting state by using a support vector machine (SVM). According to the SVM outputs, the system detects the penetration of the work material and autonomously stops the actuation of the cutting tool. The proposed method was verified through experiments, and the results showed that the developed system successfully detected the penetrations of work materials and stopped autonomously immediately before total penetration. This study showed that the autonomous detection of bone penetration with a hand-held bone-cutting tool is feasible by using the proposed scheme

Vibration-Based Milling Condition Monitoring in Robot-Assisted Spine Surgery

“…Direct measurement of tissue vibration signal has been realized by a laser displacement sensor based on triangulation [9]. Compared with the other existing methods, the noncontact vibration [22], [23], Colla and Allotta [18], Kaburlasos et al [24], Ong and Bouazza-Marouf [15], Federspil et al [10], Lee et al [16], [25], Coulson et al [26], Sugita et al [12], Sugita et al [27], Wang et al [11], Boiadjiev et al [28], Du et al [29], Deng et al [19], Hu et al [17], Jin et al [30] No physical sensor Kasahara et al [31], Osa et al [20] Vibration…”

“…Having considered that the force signal has many spurious pulse noises during the bone drilling operation, Ong and Bouazza-Marouf [15] chose a modified Kalman filter to smooth the sudden or abrupt changes in the signal; Lee et al [16] designed low-pass filters to remove the noise and a high-pass filter to detect the signal's edge; Hu et al [17] calculated the average force. In order to recognize the cutting state by means of analyzing the force signal, Colla and Allotta [18] investigated the use of wavelet transform for the localization of transients in the signal and proposed a method for the detection of breakthroughs in drilling procedures; Deng et al [19] chose the Hilbert-Huang transform to extract the features of the signal and then the cortical tissue and cancellous tissue are identified; Osa et al [20] detected the penetration of the bone through inputting the signal into the support vector machine. Different from the force signal, the bone vibration signal contains useful information in its high-frequency components, so the multiband bandpass filter is suitable to separate these components [21].…”

Autonomy in Surgical Robotics

“…Furthermore, understanding the mechanical properties is essential to avoid unintentional damages. Research has focused on deformation assessment by means of data-driven approaches in needle insertion [107], and real-time detection of tissue perforation during spine interventions [108]. Intra-operative real-time images [109] and pre-operatory CT scans [110] were used to obtain anatomy-specific deformation models.…”

Autonomous Tissue Manipulation via Surgical Robot Using Learning Based Model Predictive Control

“…It will shift the surgeons toward the decision making role while the vast majority of the manipulations will be conducted via a surgical robot. As part of this vision, research is directed at automating subtasks that serve as building blocks of many of the surgical procedures such as suturing [1], [2], [3], tumor resection [4], bone cutting [5], and drilling [6]. Among the many surgical subtasks, tissue manipulation is one of the tasks that is most frequently performed.…”