Adaptive Impedance Zero-Force Control for Skull Drilling Based on Human-Machine Interaction

In recent years, robot-assisted surgery has become increasingly popular in the medical field. The current practice of craniotomy, which involves a surgeon manually operating a skull drill, is time-consuming, labor-intensive, and carries a high risk of complications. To overcome these problems, this...

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Bibliographic Details
Main Authors: Bi, Mingchi, Cheng, Hongtai, Guan, Xiaohan, Jia, Zhenming
Format: Conference Proceeding
Language:English
Subjects:
Adaptive Control
Drag
Drilling
Human-machine Interaction
Process control
Robot sensing systems
Skull
Skull Drilling
Surgery
Surgical Safety
Switches
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Summary:In recent years, robot-assisted surgery has become increasingly popular in the medical field. The current practice of craniotomy, which involves a surgeon manually operating a skull drill, is time-consuming, labor-intensive, and carries a high risk of complications. To overcome these problems, this paper proposes an adaptive impedance zero-force control method based on human-machine interaction. The proposed method uses a human-in-the-loop control system to achieve zero-force mode for the robot, while also allowing it to adaptively switch modes under different conditions. A skull drilling status model is established by monitoring changes in drilling currently and interactive force using a drilling sensor to provide drilling protection. Simulation results verify the feasibility of the algorithm for detecting changes in current peak values and also confirm the effectiveness of the drag function, mode switching under different conditions, and the function of skull drill stops by experiment. The results demonstrate that this method effectively enables mode switching and drill-stop functionality during the drag and drop process.
ISSN:2642-6633
DOI:10.1109/CYBER59472.2023.10256492