TY - JOUR
T1 - An unconstrained virtual bone clamper for a knee surgical robot using visual servoing technique
AU - Chen, Chin Sheng
AU - Hsieh, Ming Shium
AU - Chiu, Yu Wen
AU - Tsai, Chia Hou
AU - Liu, Shih Ming
AU - Lu, Chun Chang
AU - Yen, Ping Lang
PY - 2010/4
Y1 - 2010/4
N2 - Medical robotics has high potential to bring patients real benefits due to its high accuracy positioning capability. However a patient's organ movement is still a challenge for medical robotics in achieving the expected high positioning accuracy. In orthorpaedic surgery, the target object is hard tissue. Obtaining accurate positioning is usually easier than with a soft tissue target. In the past, the solution was to use a mechanical clamper to fix and prevent the bone from moving. However, the invasive bone clamping approach has several drawbacks, such as additional damage to the bone, large errors for a loose bone, and constraints of ligament adjustment etc. Therefore, in this paper, an unconstrained virtual bone clamper has been proposed. Its aim is to provide the same bone freezing function as a traditional bone clamp, but it is implemented by software. The drawbacks of a physical bone clamp can be avoided. Experimental results on plastic sawbones resection demonstrate that using the virtual clamp, a robot can achieve accuracy as good ad when using a physical clamp whether the bone is fixed in place or moving.
AB - Medical robotics has high potential to bring patients real benefits due to its high accuracy positioning capability. However a patient's organ movement is still a challenge for medical robotics in achieving the expected high positioning accuracy. In orthorpaedic surgery, the target object is hard tissue. Obtaining accurate positioning is usually easier than with a soft tissue target. In the past, the solution was to use a mechanical clamper to fix and prevent the bone from moving. However, the invasive bone clamping approach has several drawbacks, such as additional damage to the bone, large errors for a loose bone, and constraints of ligament adjustment etc. Therefore, in this paper, an unconstrained virtual bone clamper has been proposed. Its aim is to provide the same bone freezing function as a traditional bone clamp, but it is implemented by software. The drawbacks of a physical bone clamp can be avoided. Experimental results on plastic sawbones resection demonstrate that using the virtual clamp, a robot can achieve accuracy as good ad when using a physical clamp whether the bone is fixed in place or moving.
KW - Computer assisted surgery
KW - Medical robotics
KW - Total knee replacement
KW - Visual servo
UR - http://www.scopus.com/inward/record.url?scp=77952258311&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77952258311&partnerID=8YFLogxK
U2 - 10.1080/02533839.2010.9671626
DO - 10.1080/02533839.2010.9671626
M3 - Article
AN - SCOPUS:77952258311
SN - 0253-3839
VL - 33
SP - 379
EP - 386
JO - Journal of the Chinese Institute of Engineers, Transactions of the Chinese Institute of Engineers,Series A/Chung-kuo Kung Ch'eng Hsuch K'an
JF - Journal of the Chinese Institute of Engineers, Transactions of the Chinese Institute of Engineers,Series A/Chung-kuo Kung Ch'eng Hsuch K'an
IS - 3
ER -