A robotized handheld smart tool for orthopedic surgery
Journal
International Journal of Medical Robotics and Computer Assisted Surgery
Journal Volume
17
Journal Issue
5
Date Issued
2021
Author(s)
Abstract
Background: Handheld surgical robots offer functionalities, such as active guidance, tremor suppression and force reflection, for surgeons to enhance their skill in manipulating surgical tools during medical intervention. In orthopedic surgery, the robot additionally has to offer sufficient rigidity and power for bone machining. The size and weight of the mechanical design, together with the control behaviour associated with involuntary hand motion, navigation and reflected force to the human, all influence the overall performance of an orthopedic handheld robot. Methods: The paper proposes a miniature and compact design for an embedded robot, which is a similar weight as a handpiece. Then, a shared controller is proposed to address the coupling among involuntary and voluntary hand motions, robot navigation, tool feedback forces and force artefacts from actuation. Results: The handheld robot is able to stabilize the drill positioning by removing involuntary tremors as well as reduce force artefacts from motor actuation in experiments involving pedicle tunnelling on a porcine spine. Conclusion: The paper has successfully realized a compact handheld orthopedic robot which provides high performance of usability, tremor suppression and force reflection for bone drilling. ? 2021 John Wiley?& Sons Ltd.
Subjects
handheld robot
orthopedic surgical robot
pedicle screw fixation
spine surgery
accuracy
Article
artifact reduction
equipment design
handheld device
human
orthopedic surgery
tactile feedback
animal
feedback system
motion
orthopedics
pig
robot assisted surgery
robotics
Animals
Feedback
Humans
Motion
Orthopedic Procedures
Orthopedics
Robotic Surgical Procedures
Robotics
Swine
SDGs
Type
journal article