Fiche publication
Date publication
juin 2021
Journal
IEEE transactions on bio-medical engineering
Auteurs
Membres identifiés du Cancéropôle Est :
Pr GANGI Afshin
,
Dr BARBE Laurent
,
Dr GARNON Julien
,
Pr BAYLE Bernard
Tous les auteurs :
Neumann N, Meylheuc L, Barbe L, Garnon J, Koch G, Gangi A, Bayle B
Lien Pubmed
Résumé
In this article, assistance to bone cement in- jection is studied, with a focus on vertebroplasty, a procedure dedicated to the treatment of painful vertebral compression fractures. A robotic system that can remotely be operated at pressures up to 140 bar is presented. It is specifically designed to improve 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, particularly well suited for very slow injection speeds. During the injection, force feedback is rendered to the radiologist to help monitor the cement viscosity increase. A first assessment in laboratory conditions has been achieved to quantify the performance of the thermal exchanger. Then, cadaver experiments have been performed to illustrate the satisfactory operation of the whole system.
Référence
IEEE Trans Biomed Eng. 2021 Jun 10;PP:
