Untersuchung der spanenden Bearbeitung von Knochen

Fuchsberger, Alfred

doi:10.1007/978-3-642-82785-3

Cited by 22 publications

(12 citation statements)

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“…The results showed that no forces over 20 N were to be expected; this was in accordance to previous studies performed on human bone (2,20). In this study, the characteristics of different systems of leg fixation were investigated to determine parameters required for the programming of the navigational tracking system to control the robotic system, depending on the movement of the patient during the milling process, as additional parameters for the control loop of the robotic system.…”

Section: Introductionsupporting

confidence: 78%

Determination of optimal non‐invasive patient fixation methods for use in robotic hip replacement surgery—an in vitro study

Schulz¹,

Tarabolsi²,

Faber³

et al. 2007

Robotics Computer Surgery

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Section: Introductionsupporting

confidence: 78%

Determination of optimal non‐invasive patient fixation methods for use in robotic hip replacement surgery—an in vitro study

Schulz¹,

Tarabolsi²,

Faber³

et al. 2007

Robotics Computer Surgery

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“…Cobb et al claim an accuracy of 0.5 mm for robotic-assisted UKA [9]. Although the proposed workspace dimensions vary, the bone milling forces are quite similar with 25 N [16] for RTHR and 20 N for UKA [3,12].…”

Section: Requirement Analysismentioning

confidence: 91%

Modular design of a miniaturized surgical robot system

Niggemeyer

Müller²,

Niesche³

et al. 2012

Biomedizinische Technik/Biomedical Engineering

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Currently, there are only a small number of robotic systems used in various surgical fields. As modified industrial robot systems have shown significant limitations in the past, specialized kinematic solutions have been proposed for specific surgical applications. The majority of these systems are designed for specific applications in only a limited number of cases. The acquisition and operating costs are high, hindering the dissemination and broad clinical application of such systems. To address this problem, a modular mini-robot system is proposed, which can be easily adapted to different application-specific requirements. Therefore, the requirements of different applications have been categorized and clustered to a standardized requirement profile. Next, a modular robot based on a hybrid kinematic module structure has been developed. This concept has been implemented and tested in in vitro studies for different applications, such as revision total hip replacement and unicondylar knee arthroplasty. User-orientated tests of the intraoperative handling, as well as accuracy tests, proved the feasibility of the concept.

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“…It is of great importance to avoid heat or mechanical trauma. 6 One effective way to achieve this goal proved to be the force-based speed control implemented in our system. 7 Another important factor, namely the elimination of tall grooves in the cavity floor, is achieved by choosing a small distance between paths.…”

Section: Discussionmentioning

confidence: 99%

Development of the First Force‐Controlled Robot for Otoneurosurgery

et al. 2003

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Objective: In some surgical specialties (eg, orthopedics), robots are already used in the operating room for bony milling work. Otological surgery and otoneurosurgery may also greatly benefit from the enhanced precision of robotics. Study Design: Experimental study on robotic milling of oak wood and human temporal bone specimen. Methods: A standard industrial robot with a six-degrees-of-freedom serial kinematics was used, with force feedback to proportionally control the robot speed. Different milling modes and characteristic path parameters were evaluated to generate milling paths based on computeraided design (CAD) geometry data of a cochlear implant and an implantable hearing system. Results: The best-suited strategy proved to be the spiral horizontal milling mode with the burr held perpendicular to the temporal bone surface. To reduce groove height, the distance between paths should equal half the radius of the cutting burr head. Because of the vibration of the robot's own motors, a high oscillation of the SD of forces was encountered. This oscillation dropped drastically to nearly 0 Newton (N) when the burr head made contact with the dura mater, because of its damping characteristics. The cutting burr could be kept in contact with the dura mater for an extended period without damaging it, because of the burr's blunt head form. The robot moved the burr smoothly according to the encountered resistances. Conclusion: The study reports the first development of a functional robotic milling procedure for otoneurosurgery with force-based speed control. Future plans include implementation of ultrasound-based local navigation and performance of robotic mastoidectomy.

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Untersuchung der spanenden Bearbeitung von Knochen

Cited by 22 publications

References 0 publications

Determination of optimal non‐invasive patient fixation methods for use in robotic hip replacement surgery—an in vitro study

Determination of optimal non‐invasive patient fixation methods for use in robotic hip replacement surgery—an in vitro study

Modular design of a miniaturized surgical robot system

Development of the First Force‐Controlled Robot for Otoneurosurgery

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