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A 6-DOF parallel bone-grinding robot for cervical disc replacement surgery

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Abstract

Artificial cervical disc replacement surgery has become an effective and main treatment method for cervical disease, which has become a more common and serious problem for people with sedentary work. To improve cervical disc replacement surgery significantly, a 6-DOF parallel bone-grinding robot is developed for cervical bone-grinding by image navigation and surgical plan. The bone-grinding robot including mechanical design and low level control is designed. The bone-grinding robot navigation is realized by optical positioning with spatial registration coordinate system defined. And a parametric robot bone-grinding plan and high level control have been developed for plane grinding for cervical top endplate and tail endplate grinding by a cylindrical grinding drill and spherical grinding for two articular surfaces of bones by a ball grinding drill. Finally, the surgical flow for a robot-assisted cervical disc replacement surgery procedure is present. The final experiments results verified the key technologies and performance of the robot-assisted surgery system concept excellently, which points out a promising clinical application with higher operability. Finally, study innovations, study limitations, and future works of this present study are discussed, and conclusions of this paper are also summarized further. This bone-grinding robot is still in the initial stage, and there are many problems to be solved from a clinical point of view. Moreover, the technique is promising and can give a good support for surgeons in future clinical work.

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Acknowledgements

The authors would like to express appreciation to financial supports from China Postdoctoral Science Foundation Funded Project (2016M602164), Qingdao Postdoctoral Researchers Applied Research Project (2016119), and Qingdao Application Foundation Research Project (Youth special) (14-2-4-120-jch).

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Authors and Affiliations

  1. College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao, 266590, China

    Heqiang Tian & Chenchen Wang

  2. Qingdao Municipal Hospital, Qingdao, 266073, China

    Xiaoqing Dang

  3. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150080, China

    Lining Sun

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  1. Heqiang Tian
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  2. Chenchen Wang
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  3. Xiaoqing Dang
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  4. Lining Sun
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Correspondence to Heqiang Tian.

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Tian, H., Wang, C., Dang, X. et al. A 6-DOF parallel bone-grinding robot for cervical disc replacement surgery. Med Biol Eng Comput 55, 2107–2121 (2017). https://doi.org/10.1007/s11517-017-1648-4

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  • DOI: https://doi.org/10.1007/s11517-017-1648-4

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