A semi-autonomous robot control based on bone layer transition detection for a safe pedicle tapping.
Clemente LaurettiFrancesca CordellaIlenia SaltarelliRosaura MorfinoLoredana ZolloPublished in: International journal of computer assisted radiology and surgery (2023)
The study demonstrated high capability of the proposed approach to i) promptly detect transition among the specimen layers and ii) adapt the tool velocities depending on the detected layers.