Vibration Recognition Learning System using Force and Sound Sensing integratively for Mouse Cranium Cutting in Cranial Window Surgery

摘要

In this paper, we propose an approach for realizing robotic cutting of a mouse cranium for the cranial window surgery. This task requires the skills of the minute manipulation, dealing with an individual difference, and dealing with a regional difference, which are expected abilities of autonomous robots but were not sufficiently implemented in previous studies. We propose a system recognizing if the cutting target (e.g., the mouse cranium) is pierced in the current cutting segment and avoiding cutting pierced segments to prevent the robot from damaging the mouse brain. In this system, we use vibration recognition to deal with the individual difference and apply this to each cutting segment to deal with the regional difference. We confirmed this system work against the simulated cranial window surgery using chicken eggs.