A Dexterous Robotic System for Autonomous Debridement of Osteolytic Bone Lesions in Confined Spaces: Human Cadaver Studies.
A Dexterous Robotic System for Autonomous Debridement of Osteolytic Bone Lesions in Confined Spaces: Human Cadaver Studies.
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DOI：
10.1109/tro.2021.3091283
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发表时间：
2022-04
影响因子：
7.8
通讯作者：
Armand, Mehran
中科院分区：
文献类型：
--
作者：
Sefati, Shahriar;Hegeman, Rachel;Iordachita, Iulian;Taylor, Russell H.;Armand, Mehran
关键词：
本文介绍了一种用于在受限空间中对溶骨性骨病变进行自主清创的灵巧机器人系统。所提出的系统与最先进的骨科系统不同，因为它将刚性连杆机器人与连续体机械手（CM）相结合，提高了在手术中经常遇到的难以触及空间的可达性。连续体机械手配备了灵活的清创器械和光纤布拉格光栅传感器。外科医生根据患者的术前计算机断层扫描进行规划，机器人系统在外科医生的监督下自主执行任务。一个基于优化的控制器即时生成控制命令以执行任务，同时满足物理和安全约束。对系统设计和控制器进行了讨论，并进行了大量的模拟、仿体和人体尸体实验，以评估在受限空间中的性能、工作空间和灵巧性。目标放置的平均值和标准差分别为0.5毫米和0.18毫米，在治疗髋关节骨质溶解时，该机器人系统覆盖髋臼植入物后面91%的工作空间，而传统刚性工具只能达到54%。
This article presents a dexterous robotic system for autonomous debridement of osteolytic bone lesions in confined spaces. The proposed system is distinguished from the state-of-the-art orthopedics systems because it combines a rigid-link robot with a continuum manipulator (CM) that enhances reach in difficult-to-access spaces often encountered in surgery. The CM is equipped with flexible debriding instruments and fiber Bragg grating sensors. The surgeon plans on the patient’s preoperative computed tomography and the robotic system performs the task autonomously under the surgeon’s supervision. An optimization-based controller generates control commands on the fly to execute the task while satisfying physical and safety constraints. The system design and controller are discussed and extensive simulation, phantom and human cadaver experiments are carried out to evaluate the performance, workspace, and dexterity in confined spaces. Mean and standard deviation of target placement are 0.5 and 0.18 mm, and the robotic system covers 91% of the workspace behind an acetabular implant in treatment of hip osteolysis, compared to the 54% that is achieved by conventional rigid tools.
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