水泥
骨水泥
注射器
材料科学
固化(化学)
遥操作
生物医学工程
机器人
工程类
复合材料
计算机科学
机械工程
人工智能
作者
N Neumann,Laurence Meylheuc,Laurent Barbé,Julien Garnon,Guillaume Koch,Afshin Gangi,B. Bayle
出处
期刊:IEEE Transactions on Biomedical Engineering
[Institute of Electrical and Electronics Engineers]
日期:2022-01-01
卷期号:69 (1): 138-147
被引量:4
标识
DOI:10.1109/tbme.2021.3088347
摘要
In this article, assistance to bone cement injection is studied, with a focus on vertebroplasty, a procedure dedicated to the treatment of vertebral compression fractures. A robotic system that can remotely be operated at pressures up to 140 bar is presented. It improves cement polymerization control, combining a cold passive exchanger that slows down the cement curing in the syringe and an active exchanger that controls the injected cement temperature. The cement remote injection uses a rate control teleoperation strategy with force feedback to help monitoring the cement state. In addition to laboratory assessments, cadaver experiments were performed to illustrate the satisfactory operation of the whole system.
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