Computer assisted arthroscopic anterior cruciate ligament reconstruction

This paper presents a method to estimate the workspace volume of a reduction robot and an optimization model is established to achieve a larger workspace. To calculate and compare the workspace volume under different structure parameters, a method is proposed to search the border of the workspace. This model shows the influence of the moving platform radius and the length of the legs on the workspace of the robot: while the moving platform keeps an angle position of (5, 5, 5), the smaller the moving platform radium is, the larger the robot workspace would be; the workspace would enlarge several times, if the legs' length range increases from 70mm to 100mm. We selected a group of more reasonable structure parameters to improve the robot workspace.

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“…, 60 [1] X [2] IRP RepoRobo [3] Stewart [4] [ 5 6] [7] Stewart [8] [9] Fichter 6 3 6 Stewart Stewart II.…”

Section: Medical Robotics Pintracementioning

confidence: 99%

The optimization of the workspace of reduction robot

Liu

Wang

et al. 2011

2011 International Conference on Electronics, Communications and Control (ICECC)

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“…Image distortions due to the image intensifier can be described as a pin-cushion distortion due to the curved form of the X-ray entry window, an image shift, an image rotation, and an ''S''-shaped distortion due to an external magnetic field (22,23) . The image intensifier distortions can be corrected for by a third order polynomial approach (23,24) .…”

Section: Navigation Systemmentioning

confidence: 99%

Image-guided reconstruction of the anterior cruciate ligament

Sabczynski¹,

Dries²,

Zylka³

et al. 2004

IJMRCAS

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The replacement of the ruptured Anterior Cruciate Ligament (ACL) of the knee is a biomechanically difficult task. The correct placement of the graft, especially the isometry of the tibial and femoral insertion points, is critically to the success of the procedure. However, during arthroscopy, the planning of the insertion points and accurate execution of the plan is difficult. This paper reports an X-ray based system for navigation of the ACL graft implant. The system integrates arthroscopy and intra-operative X-ray imaging to identify the correct insertion points of the graft. Furthermore, it allows testing the isometry of these points before drilling of the femoral and tibial tunnel, and guides the drilling itself.

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“…As when tracking a US probe or mini-gamma camera in the CT's coordinates, the C-arm can be equipped with a tracker of the position measurement system in order to measure its position and orientation 21,22 . In order to overlay instrument positions onto X-ray images, the imaging properties of the X-ray system must be known.…”

Section: Instrument Tracking With C-arm Fluoroscopymentioning

confidence: 99%

“…Image distortions due to the image intensifier can be described as a pincushion distortion due to the curved form of the X-ray entry window, an image shift, an image distortion, and an 'S'-shaped distortion due to an external magnetic field 23,24 . These distortions can be corrected for by a third order polynomial approach with sufficient accuracy 21 .…”

Section: Instrument Tracking With C-arm Fluoroscopymentioning

confidence: 99%

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Image-Guided Therapy (IGT): New CT and Hybrid Imaging Technologies

et al.

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Integrated multi-modality IGT prototypes are described for IR and OR suites of the future including procedures guided with CT and hybrid imaging devices. Radiofrequency Ablation (RFA) is an exemplary application, and the prototypes can be adapted to other procedures. To investigate pre-planning 1 , a software prototype enables virtual electrode placement. Intra-procedurally, a CT-integrated robot aligns its laser to planned trajectories. Interventional tools and mini-imaging devices are registered to imagers and 3-D data sets by attaching them as robot hands, or by tracking them with electromagnetic or optical systems. Tissue response is monitored with new 3-D real-time imaging. The ultimate goal is to simplify treatment and provide benefit to the patient.

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Computer assisted arthroscopic anterior cruciate ligament reconstruction

Cited by 4 publications

References 16 publications

The optimization of the workspace of reduction robot

The optimization of the workspace of reduction robot

Image-guided reconstruction of the anterior cruciate ligament

Image-Guided Therapy (IGT): New CT and Hybrid Imaging Technologies

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