HyBAR: hybrid bone-attached robot for joint arthroplasty.
HyBAR: hybrid bone-attached robot for joint arthroplasty.
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HyBAR：用于关节置换术的混合骨附着机器人。
DOI：
10.1002/rcs.254
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发表时间：
2009
期刊：
影响因子：
--
通讯作者：
Jaramaz,B
中科院分区：
文献类型：
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作者：
Song,S;Mor,A;Jaramaz,B
背景已经引入了许多小型骨附着手术机器人来克服大型独立手术机器人的一些缺点。在骨科领域，对微创关节置换手术的需求不断增加，也鼓励了小型手术机器人的发展。在各种技术方面的这种方法，最佳的小型化，保持结构强度的高速骨removal was investigated.MethodsBy observing advantages and disadvantages from serial and parallel robot structures，a new hybrid kinetic configuration was designed for a bone‐attached robot to perform precision bone removal for cutting the femoral implant cavity during patellofemoral joint arthroplasty surgery.一系列的实验测试进行，以评估新的机器人的性能，特别是关于骨preparation.ResultsA小型化和刚性结构的机器人原型开发的微创骨附着机器人手术的准确性。还引入了一种新的微创模块化夹持系统，以增强机器人手术。泡沫和猪骨的实验结果表明，新的机器人，消除了一些主要的设计问题，以前的prototype.ConclusionsFor小骨附着手术机器人，利用高速骨科工具，结构刚度和夹紧机制的成功实施是主要的设计问题。新的运动配置使用铰链棱柱关节，使有效的小型化与良好的结构刚度。虽然在原型阶段仍然存在一些小问题，但新的发展将是朝着实际使用这种机器人迈出的重要一步。版权所有© 2009约翰威利父子有限公司。
BackgroundA number of small bone‐attached surgical robots have been introduced to overcome some disadvantages of large stand‐alone surgical robots. In orthopaedics, increasing demand on minimally invasive joint replacement surgery has also been encouraging small surgical robot developments. Among various technical aspects of such an approach, optimal miniaturization that maintains structural strength for high speed bone removal was investigated.MethodsBy observing advantages and disadvantages from serial and parallel robot structures, a new hybrid kinematic configuration was designed for a bone‐attached robot to perform precision bone removal for cutting the femoral implant cavity during patellofemoral joint arthroplasty surgery. A series of experimental tests were conducted in order to evaluate the performance of the new robot, especially with respect to accuracy of bone preparation.ResultsA miniaturized and rigidly‐structured robot prototype was developed for minimally invasive bone‐attached robotic surgery. A new minimally invasive modular clamping system was also introduced to enhance the robotic procedure. Foam and pig bone experimental results demonstrated a successful implementation of the new robot that eliminated a number of major design problems of a previous prototype.ConclusionsFor small bone‐attached surgical robots that utilize high speed orthopaedic tools, structural rigidity and clamping mechanism are major design issues. The new kinematic configuration using hinged prismatic joints enabled an effective miniaturization with good structural rigidity. Although minor problems still exist at the prototype stage, the new development would be a significant step towards the practical use of such a robot. Copyright © 2009 John Wiley & Sons, Ltd.