Safety and Accuracy Considerations in Developing a Small Sterilizable Robot for Orthopaedic Surgery
Safety and Accuracy Considerations in Developing a Small Sterilizable Robot for Orthopaedic Surgery
复制标题
开发用于骨科手术的小型可消毒机器人的安全性和准确性考虑因素
DOI：
10.1109/robot.2005.1570236
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发表时间：
2005
期刊：
影响因子：
--
通讯作者：
S. Lavallée
中科院分区：
文献类型：
--
作者：
C. Plaskos;P. Cinquin;A. Hodgson;S. Lavallée
本研究的目的是设计一种结构紧凑、精确、安全、易用的全膝关节置换手术机器人。名为Praxiteles的骨安装机器人的目标是将手术截骨导向器精确定位在膝盖周围的适当平面上，以便外科医生可以使用导向器手动进行切割。机器人架构由2个电动自由度（DOF）组成，其旋转轴平行排列，并通过2 DOF串联调节机构与植入物切割平面精确对齐。最初的原型是在锯骨和尸体上开发和测试的，现在正在建造一个新的改进版本。一个可反向驱动的系统，具有高刚度，高精度的静态定位能力和安全的低力动态运动是使用快速释放，弹簧加载的机械制动系统集成在齿轮传动单元中的电机输出的水平。本文讨论了系统的开发，设计和建设过程中遇到的技术挑战。
The objective of this work was to design a compact, accurate, safe, and ease-to-use surgical robot for total knee arthroplasty. The goal of the bone-mounted robot, named Praxiteles, is to precisely position a surgical bone-cutting guide in the appropriate planes surrounding the knee, so that the surgeon can perform the cuts manually using the guide. The robot architecture is comprised of 2 motorized degrees of freedom (DOF) whose axes of rotation are arranged in parallel, and are precisely aligned to the implant cutting planes with a 2 DOF serial adjustment mechanism. An initial prototype was first developed and tested on saw bones and cadavers, and construction of a new, refined version is now well underway. A backdrivable system, with high-stiffness, high-precision static positioning capabilities and safe low-force dynamic movement is achieved using a quick-release, spring-loaded mechanical braking system integrated in a gear transmission unit at the level of the motor outputs. This paper discusses the technical challenges encountered during the development, design, and construction of the system.