Yen Ping-Lang, Chu Yi-Jing, Hsu Shang-Wei, Wang Jing-Heng, Hung Shuo-Suei
Department of Bio-industrial Mechatronics Engineering, National Taiwan University, Taipei, Taiwan.
Int J Med Robot. 2014 Jun;10(2):180-6. doi: 10.1002/rcs.1526. Epub 2013 Aug 19.
Robots are gradually becoming intelligent tools for surgeons in computer assisted orthopedic surgery. A hands-on robot combining CT-free navigation software and coordinated control has been designed for total knee arthroplasty.
The hands-on robot is under bilateral force control so that the robot not only follows the force commands from the operator but also shapes the reflected force back to the operator. The proposed coordinated control also defines three operating modes to fulfill intelligent bone cutting by tuning appropriate scaling to the admittance gains.
Experimental results demonstrated assistive, resistant and emergent actions to meet various bone cutting conditions by the coordinated controller.
The proposed coordinated controller enables the robot to perform bone cutting more safely, rapidly and accurately compared with being performed by manual bone saw. The intelligent bone cutting has been successfully verified by a cadaver test.
在计算机辅助骨科手术中，机器人正逐渐成为外科医生的智能工具。一种结合无CT导航软件和协同控制的手动机器人已被设计用于全膝关节置换术。
该手动机器人采用双边力控制，使机器人不仅能遵循操作员的力指令，还能将反射力反馈给操作员。所提出的协同控制还定义了三种操作模式，通过调整适当的导纳增益缩放来实现智能骨切割。
实验结果表明，协同控制器能够实现辅助、抵抗和紧急动作，以满足各种骨切割条件。
与手动骨锯相比，所提出的协同控制器使机器人能够更安全、快速和准确地进行骨切割。智能骨切割已通过尸体测试成功验证。
