Design and implementation of a control architecture for robot‐assisted orthopaedic surgery

Abstract

The experiments performed on the OrthoRoby robotic system and its intelligent control architecture yielded promising results. Although minor problems still exist at the prototype stage, minor modifications of the OrthoRoby and intelligent control architecture would be a significant step towards the use of the OrthoRoby and its intelligent control architecture in a surgical operation.

Medical user interface for orthopedical surgical robotic system

“…Kemik kesme ameliyatını istendiği gibi ve güvenli bir şekilde yerine getirebilmek için ortopedik cerrahi robot sistemi OrthoRoby ve akıllı kontrol mimarisi geliştirdik [9]. Bu çalışmada, hastanın 3B kemik modelini kullanarak OrthoRoby'nin izlemesi gereken kemik kesme yörüngelerini oluşturabilmek için tıbbi kullanıcı arayüzü geliştirdik.…”

“…Bu çalışmada sunulan akıllı kontrol mimarisini tasarlamak için melez sistem modelleme tekniği kullanıldı [9].…”

“…Praxiteles robotu ise motorlu 2 serbestlik derecesinden oluşan, dönme ekseni paralel olarak düzenlenmiş ve 2 serbestlik dereceli ayar mekanizmasından oluşmaktadır [8]. Önceki çalışmalarımızda OrthoRoby olarak adlandırılan, bir paralel robot, kesici alet ve akıllı kontrol mekanizmasından oluşan ve istenilen kemik kesme yörüngesini güvenli bir şekilde takip edebilen bir ortopedik cerrahi robot sistemi tasarlandı ve üretildi [9].…”

Fuzzy impedance and force control of a Stewart platform

“…Some fundamental methods for robot force control have been developed in the last two decades. These control methods can be summarized as stiffness [4], impedance [5], admittance, hybrid position/force, hybrid impedance, parallel position/force, pure force control [6,7], and computed torque control [8]. In addition, some advanced methods have been developed such as fuzzy [9], adaptive [10], robust [11], vision based [12], and learning algorithms [13].…”

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

“…Parallel manipulators are preferred for orthopedic surgeries because they provide advantages in medical robotics such as small accumulated positioning errors and high stiffness. In our previous work an orthopedic surgery robot called OrthoRoby, which consists of a parallel robot and a cutting tool and an intelligent control mechanism, which is used to track a desired bone cutting trajectory in a desired and safe manner have been developed [10].…”