ARTHROBOT : a new surgical robot system for total hip arthroplasty

Kwon, Dong‐Soo; Yoon, Yoo‐Seok; Lee, Jung Ju; Ko, Seong-Young; Huh, Kwan-Hoe; Chung, Jong-Ha; Park, Young-Bae; Won, Chung-Hee

doi:10.1109/iros.2001.976319

Cited by 14 publications

(3 citation statements)

References 11 publications

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“…Recently, a number of compact orthopaedic robots have been introduced, and they were designed to be bone-mounted. Some examples include CRIGOS [5], Arthrobot [6], MARS [7] and SpineAssist [8]. In the semi-active execution approach, ACROBOT [9] presents a serial structure with a special end-effector for robot-assisted TKA and it has a cooperative control between the surgeon and the robot.…”

Section: Robot-assisted Surgery System Descriptionmentioning

confidence: 99%

A Robot-Assisted Surgery Positioning Method for Artificial Cervical Disc Replacement

Tian

et al. 2011

AMR

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Robotic–assisted surgery is a new trend in medicine. To overcome problems in artificial cervical disc replacement surgery, a robot-assisted surgery system which consists of an active 6-UPS parallel robot and its control system, a surgical planning system and an optical tracking system was developed to replace the cumbersome mechanical positioning device. A positioning method for robot-assisted cervical disc replacement surgery will be studied. Firstly, the robot-assisted surgery system is described. Secondly, the coordinate transformation method for robot-assisted surgery positioning is given. Then, a preoperative position and pose planning method is given. Finally, a robot-assisted surgery positioning by using the method in this paper is carried out. The result shows that the robot-assisted surgery positioning method in this paper is an effective method for artificial cervical disc replacement surgery.

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Section: Robot-assisted Surgery System Descriptionmentioning

confidence: 99%

A Robot-Assisted Surgery Positioning Method for Artificial Cervical Disc Replacement

Tian

et al. 2011

AMR

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“…The RIO robotic arm system mainly performs bone grinding in the TKA [4,5] with force feedbacks and minimal damages. Designed for the THA, the Arthorobot system [6] can be mounted on bones and controlled directly by doctors through the master-slave mode. The MBARS system [7] is also mounted on the bones for patellofemoral arthroplasty (PFA).…”

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.

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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.

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“…The design concept is to come up with a bonemountable surgical robot system that employs a simple registration method so that it either dramatically reduces or completely eliminates the preoperative process [9]. To satisfy such requirements, several types of 3 DOF, bonemountable robots are considered.…”

Section: The Developed System and Its Componentsmentioning

confidence: 99%

The mechanism and registration method of a surgical robot for hip arthroplasty

Kwon

Lee

Yoon

et al.

Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)

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This paper presents the mechanism and the surgical method for ARTHROBOI: a new surgical robot for hip arthroplas@. The robot is femur-mountable and capable of 4-DOF motion. It uses a new gauge-based registration method that utilizes measuring instruments consist of a reamer-shaped block gauge and a distance-measuring device. This gauge-based registration method drastically reduces the processes in the preoperative planning by eliminating the need of insertingJiducia1 markrs or CT scanning. From the preliminary pei$ormance evaluation, it is shown to have less than 0.3 mm machining errol: which seems to be suficiently accurate for clinical application. Since the system has low operating cost and is compatible to the conventional manual surgery, it is expected to be easily adaptable to surgical needs and practices inthe operating room. 0-7803-7272-7/02/$17.00 0 2002 IEEE 1889

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ARTHROBOT : a new surgical robot system for total hip arthroplasty

Cited by 14 publications

References 11 publications

A Robot-Assisted Surgery Positioning Method for Artificial Cervical Disc Replacement

A Robot-Assisted Surgery Positioning Method for Artificial Cervical Disc Replacement

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

The mechanism and registration method of a surgical robot for hip arthroplasty

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