Automatic Alignment of Fractured Femur: Integration of Robot and Optical Tracking System

Saeedi-Hosseiny, Marzieh S.; Alruwaili, Fayez; Clancy, Michael P.; Corson, Emily A.; McMillan, Sean; Papachristou, Charalampos; Bouaynaya, Nidhal; Iordachita, Iulian; Abedinnasab, Mohammad H.

doi:10.1109/lra.2023.3251198

Cited by 5 publications

(2 citation statements)

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“…In addition, the RSR was able to counteract the actual physiological muscle traction forces while manipulating the distal bone fragments during the surgery. In [44], we present clear description of the cadaver lab experimental testing as assisted by the novel imaging software. Lastly, the surgeons were able to conclude that the Robossis system is able to provide an intuitive solution for surgeons' to perform femur fracture surgery.…”

Section: B Cadaver Lab Testingmentioning

confidence: 99%

“…The previous theoretical and experimental analysis demonstrates that the RSR has a rotational workspace 15 times larger than the GSP and can generate the required traction forces up to 1,100 N with sub-millimeter accuracy [37]- [42]. Furthermore, preclinical cadaver testing demonstrates the feasibility of the RSR to be used in a clinical setting [43] [44].…”

Section: Introductionmentioning

confidence: 96%

See 1 more Smart Citation

Experimental Evaluation of a 3-Armed 6-DOF Parallel Robot for Femur Fracture Surgery

Alruwaili¹,

Saeedi-Hosseiny²,

Clancy³

et al. 2022

J. Med. Robot. Res.

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This paper presents the experimental position and force testing of a 3-armed 6-DOF Parallel Robot, Robossis, that is specifically designed for the application of long-bone femur fracture surgery. Current surgical techniques require a significant amount of time and effort to restore the fractured femur fragments’ length, alignment and rotation. To address these issues, the Robossis system will facilitate the femur fracture surgical procedure and oppose the large traction forces/torques of the muscle groups surrounding the femur. As such, Robossis would subsequently improve patient outcomes by eliminating intraoperative injuries, reducing radiation exposure from X-rays during surgery and decreasing the likelihood of follow-up operations. Specifically, in this paper, we study the accuracy of the Robossis system while moving in the operational workspace under free and simulated traction loads of ([Formula: see text]–1100[Formula: see text]N). Experimental testing in this study demonstrates that Robossis can reach the most extreme points in the workspace, as defined by the theoretical workspace, while maintaining minimal deviation from those points with an average deviation of 0.324[Formula: see text]mm. Furthermore, the force testing experiment shows that Robossis can counteract loads that are clinically relevant to restoring the fractured femur fragments’ length, alignment and rotation. In addition, we study the accuracy of Robossis motion while coupled with the master controller Sigma 7. The results show that Robossis can follow the desired trajectory in real-time with an average error of less than 1[Formula: see text]mm. To conclude, these results further establish the ability of the Robossis system to facilitate the femur fracture surgical procedure and eliminate limitations faced with the current surgical techniques.

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Section: B Cadaver Lab Testingmentioning

confidence: 99%