High Precision, Low X-Ray Radiation Exposure and Minimally Invasive Surgical Robot and Medical CAD/CAM system

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The acquired results are as follows :(1)Specification determination of a computer-integrated knee arthroplasty systemFail-safe mechanism was adopted based on the knowledge from previous studies concerning safety. Methods of information presentation and mechanical designs were introduced to improve the maneuverability(2)Determination of communication protocolA communication protocol among modules was determined. In particular, standardization of communication protocol in a networked medical system was also included as a target.(3)Design and production of a bone cutting robotThe mechanism of the bone cutting robot was determined by considering the space layout of this system, assistants, bed, astral lamp, X-ray equipment in operation room. The structure was determined by considering the rigidity, and d.o.f. The middle part was placed between clean and dirty parts.(4)Leg fixtureA mechanical jig to fix the leg rigidly is required in the system to realize the high precision cutting. In the design, sterilizability and influence to radiography were taken into account.(5)Development of a preplanning systemA software system to determine the position, size and model of an implant was developed.(6)Intra-operational interface software for surgeonThe intra-operational interface software was implemented. A surgeon can intervene at any phase of operation and operate it with high flexibility.(7)Registration and a CAM systemCorrelation of preplanning 3D model of bone and intraoperational X-ray image was calculated. The tool path information was sent to robot controller in the system.(8)Integration of the system and the evaluationComponents mentioned above were integrated as a total system. Evaluation experiments using a cadaver were performed.