{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,8]],"date-time":"2026-05-08T14:41:03Z","timestamp":1778251263702,"version":"3.51.4"},"reference-count":37,"publisher":"Wiley","issue":"11","license":[{"start":{"date-parts":[[2025,10,9]],"date-time":"2025-10-09T00:00:00Z","timestamp":1759968000000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0\/"}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Orthopaedic Surgery"],"published-print":{"date-parts":[[2025,11]]},"abstract":"<jats:title>ABSTRACT<\/jats:title>\n                  <jats:sec>\n                    <jats:title>Objective<\/jats:title>\n                    <jats:p>In spinal surgery, precise identification of high\u2010speed bur milling states is crucial for patient safety. This study investigates whether integrating tactile and auditory perception can enhance the accuracy of milling state detection in robot\u2010assisted cervical laminectomy.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Methods<\/jats:title>\n                    <jats:p>Based on the mathematical and physical model of vibration and sound in high\u2010speed bur milling bone, the feasibility of employing vibration and sound characteristics to identify the milling states of high\u2010speed bur is studied systematically. Cervical laminectomy was performed on the cervical spine of the sheep. During the signal acquisition process, acceleration sensors and microphones were installed to collect vibration and sound signals, respectively. Seven milling states were set up in the experiment: (1) Milling depths of cortical bone (CTB): 0.5, 1.0, and 1.5\u2009mm; (2) Milling depths of milling of cancellous bone (CCB): 0.5, 1.0, and 1.5\u2009mm; (3) Boundary conditions: high\u2010speed bur idling or complete penetration of bone (PT). The milling speed was set at 0.5\u2009mm\/s, the milling angle was 45\u00b0, and the bur diameter was 4\u2009mm. The vibration or sound was extracted by Fast Fourier Transform (FFT) in the frequency domain of the first nine harmonics to generate the feature vector in 9 dimensions (9\u2010D) space. These vibration and sound features were combined to form an 18\u2010D multi\u2010perception spatial vector for subsequent analysis, including five machine learning algorithms: Support Vector Machine (SVM), K Nearest Neighbors (KNN), Naive Bayes (NB), Linear Discriminant Analysis (LDA), and Decision Tree (DT), and deep learning models: Long Short\u2010Term Memory networks (LSTM).<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Results<\/jats:title>\n                    <jats:p>Based on the 18\u2010D features of tactile and auditory multisensory fusion, the LSTM model is trained using 6600 sets of high\u2010speed bur milling data. In order to achieve the best performance, a layer\u2010by\u2010layer parameter optimization strategy was used to determine the optimal parameter configuration, and finally, a single\u2010layer LSTM with 12 memory units was constructed. In terms of accuracy and stability, the model is significantly superior to the machine learning algorithms (SVM, KNN, NB, LDA, and DT), and the accuracy of LSTM is 99.32% in the milling states identification of cervical lamina milling with high\u2010speed bur.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Conclusion<\/jats:title>\n                    <jats:p>Through theoretical analysis and experimental verification, the study built a multi\u2010perception fusion framework based on tactile and auditory perception and accurately identified the cervical vertebra milling states through the LSTM model, which can provide perception means for operational spinal surgery robots in the future.<\/jats:p>\n                  <\/jats:sec>","DOI":"10.1111\/os.70182","type":"journal-article","created":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T01:15:09Z","timestamp":1760058909000},"page":"3252-3261","update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Multisensory Integration for Identifying the Milling States in Robot\u2010Assisted Cervical Laminectomy"],"prefix":"10.1111","volume":"17","author":[{"given":"Chao","family":"Sun","sequence":"first","affiliation":[{"name":"Department of Orthopedic Surgery, Key Laboratory of Spine and Spinal Cord Tianjin Medical University General Hospital  Tianjin China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yingjie","family":"Zheng","sequence":"additional","affiliation":[{"name":"Department of Orthopedic Surgery, Key Laboratory of Spine and Spinal Cord Tianjin Medical University General Hospital  Tianjin China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Junfei","family":"Hu","sequence":"additional","affiliation":[{"name":"Institute of Robotics and Automatic Information System, Tianjin Key Laboratory of Intelligent Robotics, College of Artificial Intelligence Nankai University  Tianjin China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Weixiang","family":"Ke","sequence":"additional","affiliation":[{"name":"Institute of Robotics and Automatic Information System, Tianjin Key Laboratory of Intelligent Robotics, College of Artificial Intelligence Nankai University  Tianjin China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fei","family":"Zhao","sequence":"additional","affiliation":[{"name":"Centre for Speech and Language Therapy and Hearing Science, Cardiff School of Sport and Health Sciences Cardiff Metropolitan University  Cardiff UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3024-3658","authenticated-orcid":false,"given":"Guangming","family":"Xia","sequence":"additional","affiliation":[{"name":"Institute of Robotics and Automatic Information System, Tianjin Key Laboratory of Intelligent Robotics, College of Artificial Intelligence Nankai University  Tianjin China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yu","family":"Dai","sequence":"additional","affiliation":[{"name":"Institute of Robotics and Automatic Information System, Tianjin Key Laboratory of Intelligent Robotics, College of Artificial Intelligence Nankai University  Tianjin China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yuan","family":"Xue","sequence":"additional","affiliation":[{"name":"Department of Orthopedic Surgery, Key Laboratory of Spine and Spinal Cord Tianjin Medical University General Hospital  Tianjin China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Rui","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Orthopedic Surgery Affiliated Hospital of Hebei University  Baoding China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2025,10,9]]},"reference":[{"key":"e_1_2_12_2_1","doi-asserted-by":"publisher","DOI":"10.1056\/NEJMra2003558"},{"key":"e_1_2_12_3_1","doi-asserted-by":"publisher","DOI":"10.1111\/os.13058"},{"key":"e_1_2_12_4_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.joca.2013.10.019"},{"key":"e_1_2_12_5_1","doi-asserted-by":"publisher","DOI":"10.3174\/ajnr.A4173"},{"key":"e_1_2_12_6_1","first-page":"843","article-title":"A 20\u2010Year Prospective Longitudinal Study of Degeneration of the Cervical Spine in a Volunteer Cohort Assessed Using MRI: Follow\u2010Up of a Cross\u2010Sectional Study","volume":"100","author":"Daimon K.","year":"2018","journal-title":"Journal of Bone and Joint Surgery. American Volume"},{"key":"e_1_2_12_7_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00586-020-06615-0"},{"key":"e_1_2_12_8_1","doi-asserted-by":"publisher","DOI":"10.1001\/jama.2020.0734"},{"key":"e_1_2_12_9_1","doi-asserted-by":"publisher","DOI":"10.1097\/j.pain.0000000000001989"},{"key":"e_1_2_12_10_1","first-page":"70S","article-title":"A Clinical Practice Guideline for the Management of Degenerative Cervical Myelopathy","volume":"7","author":"Mg F.","year":"2017","journal-title":"Global Spine Journal"},{"key":"e_1_2_12_11_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00586-013-2817-2"},{"key":"e_1_2_12_12_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.wneu.2015.08.039"},{"key":"e_1_2_12_13_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00701-019-04158-y"},{"key":"e_1_2_12_14_1","doi-asserted-by":"publisher","DOI":"10.1186\/s40001-023-01154-y"},{"key":"e_1_2_12_15_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10143-022-01916-y"},{"key":"e_1_2_12_16_1","doi-asserted-by":"publisher","DOI":"10.1136\/postgradmedj-2018-136190"},{"key":"e_1_2_12_17_1","doi-asserted-by":"publisher","DOI":"10.1093\/ons\/opy280"},{"key":"e_1_2_12_18_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.wneu.2025.123721"},{"key":"e_1_2_12_19_1","doi-asserted-by":"publisher","DOI":"10.1186\/s12877-024-05447-7"},{"key":"e_1_2_12_20_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.cell.2024.11.014"},{"key":"e_1_2_12_21_1","doi-asserted-by":"publisher","DOI":"10.1186\/s12938-015-0018-4"},{"key":"e_1_2_12_22_1","doi-asserted-by":"publisher","DOI":"10.1097\/00007632-200105010-00008"},{"key":"e_1_2_12_23_1","doi-asserted-by":"publisher","DOI":"10.1097\/00007632-199710150-00009"},{"key":"e_1_2_12_24_1","doi-asserted-by":"publisher","DOI":"10.1109\/TSP.2015.2391077"},{"key":"e_1_2_12_25_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-981-10-5889-9_3"},{"key":"e_1_2_12_26_1","doi-asserted-by":"publisher","DOI":"10.1162\/neco.1997.9.8.1735"},{"key":"e_1_2_12_27_1","doi-asserted-by":"publisher","DOI":"10.1109\/TNNLS.2016.2582924"},{"key":"e_1_2_12_28_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00586-015-3758-8"},{"key":"e_1_2_12_29_1","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.1989"},{"key":"e_1_2_12_30_1","doi-asserted-by":"publisher","DOI":"10.1049\/cit2.12341"},{"key":"e_1_2_12_31_1","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2019.2951782"},{"key":"e_1_2_12_32_1","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2016.2558661"},{"key":"e_1_2_12_33_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2018.2804950"},{"key":"e_1_2_12_34_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2022.3219050"},{"key":"e_1_2_12_35_1","doi-asserted-by":"publisher","DOI":"10.1111\/os.13168"},{"key":"e_1_2_12_36_1","doi-asserted-by":"publisher","DOI":"10.1109\/TASLP.2018.2880336"},{"key":"e_1_2_12_37_1","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2022.3167664"},{"key":"e_1_2_12_38_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.compbiomed.2024.108470"}],"container-title":["Orthopaedic Surgery"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1111\/os.70182","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,11,3]],"date-time":"2025-11-03T04:13:11Z","timestamp":1762143191000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1111\/os.70182"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,10,9]]},"references-count":37,"journal-issue":{"issue":"11","published-print":{"date-parts":[[2025,11]]}},"alternative-id":["10.1111\/os.70182"],"URL":"https:\/\/doi.org\/10.1111\/os.70182","archive":["Portico"],"relation":{},"ISSN":["1757-7853","1757-7861"],"issn-type":[{"value":"1757-7853","type":"print"},{"value":"1757-7861","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,10,9]]},"assertion":[{"value":"2025-04-30","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2025-09-19","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2025-10-09","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}