Precision Freehand Sculptor

精密徒手雕刻师

• 批准号: 6832001
• 负责人: CONSTANTINOS NIKOU
• 金额: $ 9.99万
• 依托单位: CASURGICA, INC.
• 依托单位国家: 美国
• 财政年份: 2004
• 资助国家: 美国
• 起止时间: 2004-09-20 至 2005-03-19
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/6832001
• 关键词: arthroplasty; bioengineering /biomedical engineering; biomedical equipment development; computer program /software; femur; hospitals; knee; orthopedics; portable biomedical equipment; robotics; surgery; surgery material /equipment

DESCRIPTION (provided by applicant): We propose to develop a clinically usable robotic cutter of the next generation that combines the advantages of the surgical navigation and robotic actuation into a conceptually new device. The device can be classified as a semi-active robotic tool, and fills in the niche between the surgical navigation and active robotics. The basic idea of the proposed device, named Precision Freehand Sculptor (PFS) comprises of an intelligent cutting tool that cuts when it is inside the volume designated for cutting, and stops cutting when it is placed outside of that volume, based on the sensing of its position relative to the target bone. The concept was received with great enthusiasm by both surgeons and researcher when it was recently introduced at several scientific meetings. The device works with surgical navigation systems and it shares the position sensing and updating with the navigation system, while it uses the mechanism controls characteristic of robotic devices to control the action. Because it is handheld, it can be much smaller than typical surgical robots, and because it does not involve specific path planning, it is much more flexible and adaptable to the operating room conditions. Since it can be made much smaller than the conventional robots, PFS could play an important role in supporting minimally invasive surgical procedures. Our initial focus will be on minimally invasive knee arthroplasty, in particular on Patello-femoral Arthroplasty (PFA), which is currently lacking adequate instrumentation and is often done free-hand. The specific goals of the Phase I of this grant are arranged in three categories: (1) Develop PFS control software and test and improve accuracy of the achieved surface. The accuracy of the surface cut by the PFS is critical to the success of the implant placement. The goal is to achieve the accuracy of 1 mm. (2) Develop the user interface software suitable for operating room (OR) environment; and (3) Develop the PFS mechanism for small incision Patello-femoral Arthroplasty. The ultimate goal is of the project is to create operating room - friendly tool that will enable more accurate surgical bone shaping in the minimally invasive surgical environment.

描述（由申请人提供）： 我们建议开发下一代临床可用的机器人切割器，将手术导航和机器人驱动的优势结合到概念上的新器械中。该器械可归类为半主动机器人工具，填补了手术导航和主动机器人之间的空白。所提出的器械（称为Precision Freehand Sculptor（PFS））的基本思想包括智能切割工具，该智能切割工具根据其相对于目标骨的位置感测，在位于指定切割体积内时进行切割，并在位于该体积外时停止切割。这个概念在最近的几次科学会议上被介绍时，受到了外科医生和研究人员的极大热情。该器械与手术导航系统配合使用，并与导航系统共享位置感测和更新，同时使用机器人器械的机制控制特性来控制动作。因为它是手持式的，所以它可以比典型的手术机器人小得多，而且因为它不涉及特定的路径规划，所以它更加灵活，适应手术室的条件。由于它可以比传统机器人小得多，PFS可以在支持微创外科手术中发挥重要作用。 我们最初的重点将是微创膝关节置换术，特别是髌股关节置换术（PFA），目前缺乏足够的仪器，往往是徒手完成。本次资助第一阶段的具体目标安排在三个方面：（1）开发PFS控制软件，测试并提高已实现曲面的精度。PFS切割表面的准确性对于种植体放置的成功至关重要。目标是达到1 mm的精度。（2）开发适用于手术室（OR）环境的用户界面软件;（3）开发用于小切口髌股关节置换术的PFS机制。该项目的最终目标是创建手术室友好的工具，这将使更准确的手术骨成形的微创手术环境。