Bone Layer Perception in Milling Process Based on Video Sequence Images during Robot-assisted Laminectomy*

To optimize the operation ability of the autonomous robot under the background of complex surgery, this paper extracted the state features of milling video sequence images to realize bone layer perception and improve the perception ability of the spinal robot. The bone layer sensing algorithm mainly consists of four parts: improved moving object detection algorithm, moving object tracking algorithm, state feature extraction algorithm and bone layer recognition algorithm. Aiming at the shortcomings of the existing moving target detection methods, this paper proposes an improved moving target detection algorithm based on the existing Background Subtractor MOG algorithm, which is suitable for milling video sequences. The grinding machine state obtained by the improved algorithm is used as the input of the moving target tracking algorithm, and the kernel correlation filter (KCF) is used to realize the target tracking. According to the tracking of the moving target, the state features of the milling area are extracted and the bone layer is identified, so as to realize the bone layer perception in the milling process.