A Robotic Flexible Drill and Its Navigation System for Total Hip Arthroplasty

Overview

Journal Ann Biomed Eng

Specialty Biomedical Engineering

Date 2017 Nov 24

PMID 29168018

Citations 2

Authors

Ahmad Nazmi Bin Ahmad Fuad

Hariprashanth Elangovan

Kamal Deep

Wei Yao

Affiliations

Soon will be listed here.

Abstract

This paper presents a robotic flexible drill and its navigation system for total hip arthroplasty (THA). The new robotic system provides an unprecedented and unique capability to perform curved femoral milling under the guidance of a multimodality navigation system. The robotic system consists of three components. Firstly, a flexible drill manipulator comprises multiple rigid segments that act as a sheath to a flexible shaft with a drill/burr attached to the end. The second part of the robotic system is a hybrid tracking system that consists of an optical tracking system and a position tracking system. Optical tracking units are used to track the surgical objects and tools outside the drilling area, while a rotary encoder placed at each joint of the sheath is synchronized to provide the position information for the flexible manipulator with its virtual object. Finally, the flexible drill is integrated into a computer-aided navigation system. The navigation system provides real time guidance to a surgeon during the procedure. The flexible drill system is then able to implement THA by bone milling. The final section of this paper is an evaluation of the flexible and steerable drill and its navigation system for femoral bone milling in sawbones.

Citing Articles

An Active Steering Hand-held Robotic System for Minimally Invasive Orthopaedic Surgery Using a Continuum Manipulator.

Ma J, Sefati S, Taylor R, Armand M IEEE Robot Autom Lett. 2021; 6(2):1622-1629.

PMID: 33869745 PMC: 8052093. DOI: 10.1109/lra.2021.3059634.

Robotic-Assisted 3D Bio-printing for Repairing Bone and Cartilage Defects through a Minimally Invasive Approach.

Lipskas J, Deep K, Yao W Sci Rep. 2019; 9(1):3746.

PMID: 30842477 PMC: 6403301. DOI: 10.1038/s41598-019-38972-2.

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