Abstract
Pedicle drilling is an important step in pedicle screw fixation and the most significant challenge in this operation is how to determine a key point in the transition region between cancellous and inner cortical bone. The purpose of this paper is to find a method to achieve the recognition for the key point. After acquiring acoustic emission (AE) signals during the drilling process, this paper proposed a novel frequency distribution-based algorithm (FDB) to analyze the AE signals in the frequency domain after certain processes. Then we select a specific frequency domain of the signal for standard operations and choose a fitting function to fit the obtained sequence. Characters of the fitting function are extracted as outputs for identification of different bone layers. The results, which are obtained by detecting force signal and direct measurement, are given in the paper. Compared with the results above, the results obtained by AE signals are distinguishable for different bone layers and are more accurate and precise. The results of the algorithm are trained and identified by a neural network and the recognition rate reaches 84.2%. The proposed method is proved to be efficient and can be used for bone layer identification in pedicle screw fixation.
Highlights
At present, pedicle screw fixation, which is the most popular technique in spinal fixation surgery [1], is often used in vertebral dysfunction caused by spinal deformity, injury or pathology.In the screw fixation process, screw drilling is one of the most critical steps
A bone layer recognition method based on acoustic emission (AE) signals for orthopedic robots is proposed
The AE signal collected during the drilling process is processed by Fast Fourier Transform (FFT), and the status of the bone drilling is characterized by the features obtained by the frequency distribution-based algorithm (FDB) algorithm
Summary
Pedicle screw fixation, which is the most popular technique in spinal fixation surgery [1], is often used in vertebral dysfunction caused by spinal deformity, injury or pathology.In the screw fixation process, screw drilling is one of the most critical steps. Pedicle screw fixation, which is the most popular technique in spinal fixation surgery [1], is often used in vertebral dysfunction caused by spinal deformity, injury or pathology. Traditional spine surgery mainly depends on surgeons’ experience and skills in performing the surgery, so tiny mistakes of a doctor are likely to cause failure of the surgery. The invisibility of the osseous structure, along with consistent and stable friction between the pedicle and the cutting edge of the tool, makes it hard to directly measure the penetration depth. It’s only possible to acquire different types of signals during the drilling process and extract features to estimate the depth of penetration. Signals which can be used for analysis are mainly image signals, force/torque signals, current signals and sound signals
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