Proof of concept study for using UR10 robot to help total hip replacement

Abstract

Background:The demand for total hip replacement (THR) for treating osteoarthritis has grown substantially worldwide. The existing robotic systems used in THR are invasive and costly. This study aims to develop a less-invasive and low-cost robotic system to assist THR surgery.Methods: A preliminary robotic reaming system was developed based on a UR10 robot equipped with a reamer to cut acetabulum. A novel approach was proposed to cut through a 5 mm hole in femur such that the operation is less invasive to the patients. Results:The average error of the cutting hemisphere by the robotic reaming system is 0.1182 mm which is smaller than the average result reaming by hand (0.1301 mm). Conclusion:The robotic reaming can help make THR procedures less invasive and more accurate. Moreover, the system is expected to be significantly less expensive than the robotic systems available in the market at present.

Robotic‐assisted burring in total hip replacement: A new surgical technique to optimise acetabular preparation

“…The test results are Exp 8 and Exp 11 for the bone block #15 and #30, respectively. To compare different categories of cutting methods, the experiments were repeated for both robotic reaming 18 and conventional (manual) reaming. The cutting diameters also ranged from 48 mm through 54 mm in 2 mm increments and were performed 3 times per cutting diameter.…”

“…The high financial cost of the system, however, makes its widespread use prohibitive. Alternatively, a low‐cost robotic system based on the UR10 collaborative robotic arm (Universal Robots) equipped with a reamer has been studied with bone block models, demonstrating a higher accuracy of robotic‐assisted reaming as compared to reaming by hand 18 . Reamers (Figure 2) may be prone to generate excessive heat leading to osteonecrosis due to the large cutting contact area, and may lead to aseptic loosening 19 .…”

“…Alternatively, a low-cost robotic system based on the UR10 collaborative robotic arm (Universal Robots) equipped with a reamer has been studied with bone block models, demonstrating a higher accuracy of robotic-assisted reaming as compared to reaming by hand. 18 Reamers (Figure 2) may be prone to generate excessive heat leading to osteonecrosis due to the large cutting contact area, and may lead to aseptic loosening. 19 Further potential disadvantages of reamers can only create symmetrical shapes, so it may be inconvenient for acetabular defect or augment.…”

Optimal configurations for stiffness and compliance in human & robot arms

“…For example, it was shown that a simple change in configuration could improve the surface finish in a polishing task by absorbing vibrations [ 17 ]. More recently, an admittance control framework was used for machining bone for use in hip replacement surgery [ 36 ]. Adopting an appropriate arm posture could further enhance the admittance control.…”

“…There are many scenarios where exploiting the passive stiffness in a robotic arm can be used to improve task performance. For example, it was shown that a simple change in More recently, an admittance control framework was used for machining bone for use in hip replacement surgery [36]. Adopting an appropriate arm posture could further enhance the admittance control.…”