In pedicle screw fixation,surgical robot and preoperative planning are enabling technologies to improve the accuracy and safety of pedicle screw placement.In this study,an automatic segmentation method for the pedicle...In pedicle screw fixation,surgical robot and preoperative planning are enabling technologies to improve the accuracy and safety of pedicle screw placement.In this study,an automatic segmentation method for the pedicle and vertebral body is proposed based on the 3D anatomical features of vertebrae.Further,an optimal insertion path is obtained to balance the safety of pedicle screw placement and the vertebral-screw interface strength.The pedicle screw radius is then determined based on the pedicle radius.A classification method is proposed to assess the accuracy of path planning.Finally,the surgical robot’s path can be updated based on the actual positions of the surgical robot and the patient.The CT data of 12 human vertebrae(T6−L5),10 porcine vertebrae(L1−L5)and 5 ovine vertebrae(L1−L5)are used to validate the effectiveness of the proposed method.All pedicle screw placement paths are successfully generated,achieving an excellence or good rate of 98%.Ex vivo pedicle screw placement experiments are conducted on human spine phantom,porcine and ovine spines,and in vivo experiment is conducted on a Bama miniature pig.In the proposed method,both safety and accuracy of pedicle screw placement are improved.According to the widely recognized Gertzbein-Robbins classification,93.18%of the outcomes achieve Grade A,showing promising potential in clinics.展开更多
Background This paper presents an intelligent path planner for lifting tasks by tower cranes in highly complex environments,such as old industrial plants that were built many decades ago and sites used as tentative st...Background This paper presents an intelligent path planner for lifting tasks by tower cranes in highly complex environments,such as old industrial plants that were built many decades ago and sites used as tentative storage spaces.Generally,these environments do not have workable digital models and 3 D representations are impractical.Methods The current investigation introduces the use of cutting edge laser scanning technology to convert real environments into virtualized versions of the construction sites or plants in the form of point clouds.The challenge is in dealing with the large point cloud datasets from the multiple scans needed to produce a complete virtualized model.The tower crane is also virtualized for the purpose of path planning.A parallelized genetic algorithm is employed to achieve intelligent path planning for the lifting task performed by tower cranes in complicated environments taking advantage of graphics processing unit technology,which has high computing performance yet low cost.Results Optimal lifting paths are generate d in several seconds.展开更多
基金Supported by Guangdong Basic and Applied Basic Research Foundation(Grant No.2024A1515011897)Shenzhen Science and Technology Program(Grant No.KQTD20210811090143060)+1 种基金Sustainable Development Science and Technology Special Project of Shenzhen(Grant No.KCXFZ20230731100900002)Tianjin Municipal Science and Technology Program(Grant No.22JCYBJC01240).
文摘In pedicle screw fixation,surgical robot and preoperative planning are enabling technologies to improve the accuracy and safety of pedicle screw placement.In this study,an automatic segmentation method for the pedicle and vertebral body is proposed based on the 3D anatomical features of vertebrae.Further,an optimal insertion path is obtained to balance the safety of pedicle screw placement and the vertebral-screw interface strength.The pedicle screw radius is then determined based on the pedicle radius.A classification method is proposed to assess the accuracy of path planning.Finally,the surgical robot’s path can be updated based on the actual positions of the surgical robot and the patient.The CT data of 12 human vertebrae(T6−L5),10 porcine vertebrae(L1−L5)and 5 ovine vertebrae(L1−L5)are used to validate the effectiveness of the proposed method.All pedicle screw placement paths are successfully generated,achieving an excellence or good rate of 98%.Ex vivo pedicle screw placement experiments are conducted on human spine phantom,porcine and ovine spines,and in vivo experiment is conducted on a Bama miniature pig.In the proposed method,both safety and accuracy of pedicle screw placement are improved.According to the widely recognized Gertzbein-Robbins classification,93.18%of the outcomes achieve Grade A,showing promising potential in clinics.
文摘Background This paper presents an intelligent path planner for lifting tasks by tower cranes in highly complex environments,such as old industrial plants that were built many decades ago and sites used as tentative storage spaces.Generally,these environments do not have workable digital models and 3 D representations are impractical.Methods The current investigation introduces the use of cutting edge laser scanning technology to convert real environments into virtualized versions of the construction sites or plants in the form of point clouds.The challenge is in dealing with the large point cloud datasets from the multiple scans needed to produce a complete virtualized model.The tower crane is also virtualized for the purpose of path planning.A parallelized genetic algorithm is employed to achieve intelligent path planning for the lifting task performed by tower cranes in complicated environments taking advantage of graphics processing unit technology,which has high computing performance yet low cost.Results Optimal lifting paths are generate d in several seconds.
