Orthopaedic surgical robot manipulator
01 Jan 2016-pp 1-5
TL;DR: This paper aims to design an orthopaedic surgical robot arm manipulator and the modeling results are presented and it showed reasonable matched outcome with the phantom models.
Abstract: Nowadays robotic-based surgery is most promising one in medical field. Since the Total Knee Replacement (TKR) and Total Hip Replacement (THR) are increasing in numbers therefore it is a need for using the robots in these types of surgeries. Also, more precise bone removal rate is required in TKR and THR to fix the implants; therefore robots are needed to incorporate to remove the bone precisely. Lot of existing systems are based on industrial manipulators and also having high cost. Hence, there is a need for exclusively designing a robot for orthopaedic-related surgery with low cost and also by analyzing all the parameters involved in bone removal. So, this paper aims to design an orthopaedic surgical robot arm manipulator. The modeling results are presented and it showed reasonable matched outcome with the phantom models. Also the results are showing an encouraging trend in furthering this research.
Citations
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TL;DR: This 3D model of the femur can be used to generate the tool paths for aiding the TKR surgery and it was found that X-ray Computed Tomography scanning systems have given more accurate data for generating the model of femur with minimum error.
7 citations
TL;DR: In this article , the classification of medical robots as passive, semi-active, active, remote manipulators, and navigators is presented, and the main advantages and emerging trends in medical robotics are discussed.
Abstract: Robotic systems that are integrated in medical applications are designed to help and assist rather than injure a human being, whether it is the patient or the operator. This chapter presents the classification of medical robots as passive, semiactive, active, remote manipulators, and navigators. Some common kinematic structures of medical robots are provided, as are the fundamental requirements from medical robots. Finally, we discuss the main advantages and emerging trends in medical robotics.
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01 Jan 2000
TL;DR: A classification of the various types of robot system currently being investigated internationally, together with a number of examples of different applications in both soft-tissue and orthopaedic surgery, are given.
Abstract: A brief introduction is given to the definitions and history of surgical robotics. The capabilities and merits of surgical robots are then contrasted with the related field of computer assisted surgery. A classification is then given of the various types of robot system currently being investigated internationally, together with a number of examples of different applications in both soft-tissue and orthopaedic surgery. The paper finishes with a discussion of the main difficulties facing robotic surgery and a prediction of future progress.
355 citations
"Orthopaedic surgical robot manipula..." refers background in this paper
...Robotics systems require continuous calibration of hardware and software upgrades, resulting in additional costs [5]....
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14 Oct 2003
TL;DR: A new approach to robot-assisted spine and trauma surgery in which a miniature robot is directly mounted on the patient's bony structure near the surgical site, which greatly enhances and simplifies the robot's registration to the target anatomy.
Abstract: This paper presents a new approach to robot-assisted spine and trauma surgery in which a miniature robot is directly mounted on the patient's bony structure near the surgical site. The robot is designed to operate in a semiactive mode to precisely position and orient a drill or a needle in various surgical procedures. Since the robot forms a single rigid body with the anatomy, there is no need for immobilization or motion tracking, which greatly enhances and simplifies the robot's registration to the target anatomy. To demonstrate this concept, we developed the MiniAture Robot for Surgical procedures (MARS), a cylindrical 5/spl times/7 cm/sup 3/, 200-g, six-degree-of-freedom parallel manipulator. We are currently developing two clinical applications to demonstrate the concept: 1) surgical tools guiding for spinal pedicle screws placement; and 2) drill guiding for distal locking screws in intramedullary nailing. In both cases, a tool guide attached to the robot is positioned at a planned location with a few intraoperative fluoroscopic X-ray images. Preliminary in-vitro experiments demonstrate the feasibility of this concept.
299 citations
"Orthopaedic surgical robot manipula..." refers background in this paper
...The main advantage of this robot is minimally invasive [10]....
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TL;DR: The goal of the bone‐mounted robot, named Praxiteles, is to precisely position a surgical bone‐cutting guide in the appropriate planes surrounding the knee, so that the surgeon can perform the planar cuts manually using the guide.
Abstract: We have been working to develop a compact, accurate, safe, and easy-to-use surgical robot for minimally invasive total knee arthroplasty (TKA). The goal of our bone-mounted robot, named Praxiteles, is to precisely position a surgical bone-cutting guide in the appropriate planes surrounding the knee, so that the surgeon can perform the planar cuts manually using the guide. The robot architecture is comprised of 2 motorized degrees of freedom (DoF) whose axes of rotation are arranged in parallel, and are precisely aligned to the implant cutting planes with a 2 DoF adjustment mechanism. Two prototypes have been developed and tested on saw bones and cadavers--an initial one for open TKA surgery and a new version for MIS TKA, which mounts on the side of the knee. A novel bone-milling technique is also presented that uses passive guide and a side milling tool.
105 citations
"Orthopaedic surgical robot manipula..." refers methods in this paper
...The robot has 2 motorized DOF with a 2 DOF adjustment mechanism to align the motor axis in frontal and transverse planes, fixation and adjustment system, a cutting tool interface and 2 DOF actuation unit [15]....
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01 Jan 2007
TL;DR: A specific example is given of an active constraint medical robot, the ACROBOT system, used in a prospective randomized controlled trial of unicondylar robotic knee arthroplasty in which the robot was compared to conventional surgery.
Abstract: A brief history of robotic systems in knee arthroplasty is provided. The place of autonomous robots is then discussed and compared to more recent 'hands-on' robotic systems that can be more cost effective. The case is made for robotic systems to have a clear justification, with improved benefits compared to those from cheaper navigation systems. A number of more recent, smaller, robot systems for knee arthroplasty are also described. A specific example is given of an active constraint medical robot, the ACROBOT system, used in a prospective randomized controlled trial of unicondylar robotic knee arthroplasty in which the robot was compared to conventional surgery. The results of the trial are presented together with a discussion of the need for measures of accuracy to be introduced so that the efficacy of the robotic surgery can be immediately identified, rather than have to wait for a number of years before long-term clinical improvements can be demonstrated.
71 citations
"Orthopaedic surgical robot manipula..." refers background or methods in this paper
...It did not get FDA clearance due to difficulty in operating and less significant results [7]....
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...A CASPER (Computer Assisted Surgical Planning and Robotics) was another robotic system for knee and hip surgery, introduced by OrtoMaquet based on Swiss industrial RX 90 6 axes clean-room robot [7]....
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05 Jul 2006
TL;DR: The current application is image-based, with the plans to develop an image-free approach in which all data collection and planning is performed intra-operatively in the robot coordinate system, eliminating the need for external tracking in the operating room.
Abstract: A mini bone attached robotic system (MBARS) was developed for shaping of the bone cavity in joint arthroplasty. While the system is designed for a general use in joint replacement procedures, the initial implementation was for patellofemoral arthroplasty (PFA) procedure. The current application is image-based, with the plans to develop an image-free approach in which all data collection and planning is performed intra-operatively in the robot coordinate system, eliminating the need for external tracking in the operating room. Experiments conducted using the first MBARS prototype supported the feasibility of the approach. The applied methodology could be extended to other orthopaedic procedures to improve the accuracy and operational time. Moreover, it enables use of the next generation, more anatomically shaped implants and related minimally invasive surgical procedures
55 citations