Bone cutting trajectory generation using a medical user interface of an orthopedical surgical robotic system

Guven, Yasin; Barkana, Duygun Erol

doi:10.1109/hsi.2010.5514548

Cited by 2 publications

(1 citation statement)

References 10 publications

(11 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Abraham et al [10] put forward an automatic calculation algorithm for robot's grinding trajectory in Cartesian space, which covers the entire bone surface with element decomposition, scans lines and potential functions, and successfully applies it in MBARS and HyBAR systems. Guven and Barkana [11] define the bone grinding trajectory in the image space and converts it into a robotic bone space for bone tissue grinding. Sugita et al [12] present a trajectory generation strategy based on geometric model and implemented it in a 7axis grinding robot, revealing that the strategy can prevent soft tissue damage.…”

Section: Introductionmentioning

confidence: 99%

Grinding Method, Trajectory Planning and Simulation of a 3 DOF Knee Grinding Robot

Tian¹,

Ma²,

Zhu³

et al. 2019

Int. j. simul. model.

View full text Add to dashboard Cite

This paper aims to improve the accuracy of robot-assisted grinding in total knee arthroplasty (TKA). For this purpose, a 3 DOF knee grinding robot was designed, combining the merits of series robot and parallel robot. The kinematics equations of the robot were derived by the vector method and the workspace of the robot was identified through Monte-Carlo method. Then, the grinding method of the robot was developed according to the procedure of the TKA. Specifically, the grinding trajectory was planned considering the implant selected for the patient. First, the plane and boundary equations of the implant were determined; then, the femur was ground into the desired shape; after that, the implant was cut off with a ball cutting tool vertically to the depth equal to the row spacing. To validate the trajectory planning method, a simulation analysis was performed on the planned trajectory. The results prove the feasibility and efficiency of the proposed method. The research findings shed new light on the robot-assisted TKA.

show abstract

Section: Introductionmentioning

confidence: 99%

Grinding Method, Trajectory Planning and Simulation of a 3 DOF Knee Grinding Robot

Tian¹,

Ma²,

Zhu³

et al. 2019

Int. j. simul. model.

View full text Add to dashboard Cite

show abstract

A 6-DOF parallel bone-grinding robot for cervical disc replacement surgery

Tian

Wang

Dang

et al. 2017

Med Biol Eng Comput

View full text Add to dashboard Cite

Artificial cervical disc replacement surgery has become an effective and main treatment method for cervical disease, which has become a more common and serious problem for people with sedentary work. To improve cervical disc replacement surgery significantly, a 6-DOF parallel bone-grinding robot is developed for cervical bone-grinding by image navigation and surgical plan. The bone-grinding robot including mechanical design and low level control is designed. The bone-grinding robot navigation is realized by optical positioning with spatial registration coordinate system defined. And a parametric robot bone-grinding plan and high level control have been developed for plane grinding for cervical top endplate and tail endplate grinding by a cylindrical grinding drill and spherical grinding for two articular surfaces of bones by a ball grinding drill. Finally, the surgical flow for a robot-assisted cervical disc replacement surgery procedure is present. The final experiments results verified the key technologies and performance of the robot-assisted surgery system concept excellently, which points out a promising clinical application with higher operability. Finally, study innovations, study limitations, and future works of this present study are discussed, and conclusions of this paper are also summarized further. This bone-grinding robot is still in the initial stage, and there are many problems to be solved from a clinical point of view. Moreover, the technique is promising and can give a good support for surgeons in future clinical work.

show abstract

Bone cutting trajectory generation using a medical user interface of an orthopedical surgical robotic system

Cited by 2 publications

References 10 publications

Grinding Method, Trajectory Planning and Simulation of a 3 DOF Knee Grinding Robot

Grinding Method, Trajectory Planning and Simulation of a 3 DOF Knee Grinding Robot

A 6-DOF parallel bone-grinding robot for cervical disc replacement surgery

Contact Info

Product

Resources

About