نيما فطانت ديدار

Spinal surgeries, especially due to their high sensitivity and the need for extreme precision during surgery, require advanced imaging systems. The O-Arm imaging device, with its six degrees of freedom, allows for accurate and real-time 3D images of the spine. In this study, dynamic modeling and simulation of the O-Arm device was performed to identify its physical parameters and optimize imaging performance. To this end, first, the dynamic parameters of the system were estimated using the Denavit-Hartenberg method and the least squares technique, and then the system behavior under different conditions was eva‎luated using computer simulations. The simulation results show that the presented dynamic model has high accuracy and precision in predicting the system behavior and allows for real-time tracking of patient movements during surgery by minimizing artifacts. This is an effective step towards improving imaging quality and reducing costs associated with peripheral equipment and scanning time, and can have effective clinical applications in spinal surgeries.

مدل‌سازي ديناميكي , شبيه‌سازي سيستم رباتيك , O-Arm , شناسايي پارامترهاي فيزيكي , جراحي ستون فقرات.

Dynamic modeling , robotic system simulation , O-Arm , physical parameter identification , spine surgery

nima fetanat didar

Dr.borhan beighzadeh