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一种用于全髋关节置换术的机器人柔性钻头及其导航系统。

A Robotic Flexible Drill and Its Navigation System for Total Hip Arthroplasty.

机构信息

The Department of Biomedical Engineering, University of Strathclyde, 106 Rottenrow, Glasgow, G4 0NW, Scotland, UK.

Golden Jubilee National Hospital, Agamemnon Street, Clydebank, G81 4DY, Scotland, UK.

出版信息

Ann Biomed Eng. 2018 Mar;46(3):464-474. doi: 10.1007/s10439-017-1959-5. Epub 2017 Nov 22.

DOI:10.1007/s10439-017-1959-5
PMID:29168018
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC5809567/
Abstract

This paper presents a robotic flexible drill and its navigation system for total hip arthroplasty (THA). The new robotic system provides an unprecedented and unique capability to perform curved femoral milling under the guidance of a multimodality navigation system. The robotic system consists of three components. Firstly, a flexible drill manipulator comprises multiple rigid segments that act as a sheath to a flexible shaft with a drill/burr attached to the end. The second part of the robotic system is a hybrid tracking system that consists of an optical tracking system and a position tracking system. Optical tracking units are used to track the surgical objects and tools outside the drilling area, while a rotary encoder placed at each joint of the sheath is synchronized to provide the position information for the flexible manipulator with its virtual object. Finally, the flexible drill is integrated into a computer-aided navigation system. The navigation system provides real time guidance to a surgeon during the procedure. The flexible drill system is then able to implement THA by bone milling. The final section of this paper is an evaluation of the flexible and steerable drill and its navigation system for femoral bone milling in sawbones.

摘要

本文提出了一种用于全髋关节置换术 (THA) 的机器人柔性钻头及其导航系统。新的机器人系统在多模态导航系统的引导下，提供了一种前所未有的独特能力，可进行弯曲股骨铣削。机器人系统由三个部分组成。首先，柔性钻头操纵器由多个刚性段组成，这些刚性段充当带有钻头/钻头的柔性轴的护套。机器人系统的第二部分是一种混合跟踪系统，由光学跟踪系统和位置跟踪系统组成。光学跟踪单元用于跟踪钻孔区域外的手术物体和工具，而放置在护套每个关节处的旋转编码器与虚拟对象同步，以提供柔性操纵器的位置信息。最后，柔性钻头集成到计算机辅助导航系统中。导航系统在手术过程中为外科医生提供实时指导。然后，柔性钻头系统能够通过骨铣削来实施 THA。本文的最后一部分是对在模拟骨中进行股骨骨铣削的柔性和可转向钻头及其导航系统的评估。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/454a/5809567/e4fb7406023b/10439_2017_1959_Fig11_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/454a/5809567/196365bd7dad/10439_2017_1959_Fig1_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/454a/5809567/83cca60773ee/10439_2017_1959_Fig2_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/454a/5809567/2ced3ae150a6/10439_2017_1959_Fig3_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/454a/5809567/4c09fec29ecb/10439_2017_1959_Fig4_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/454a/5809567/5c43b7ef7a9b/10439_2017_1959_Fig5_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/454a/5809567/7fa799d01abb/10439_2017_1959_Fig6_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/454a/5809567/5ccb3cf5fdcb/10439_2017_1959_Fig7_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/454a/5809567/e90f132f0006/10439_2017_1959_Fig8_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/454a/5809567/8f384b6e5e7e/10439_2017_1959_Fig9_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/454a/5809567/a4924977194e/10439_2017_1959_Fig10_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/454a/5809567/e4fb7406023b/10439_2017_1959_Fig11_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/454a/5809567/196365bd7dad/10439_2017_1959_Fig1_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/454a/5809567/83cca60773ee/10439_2017_1959_Fig2_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/454a/5809567/2ced3ae150a6/10439_2017_1959_Fig3_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/454a/5809567/4c09fec29ecb/10439_2017_1959_Fig4_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/454a/5809567/5c43b7ef7a9b/10439_2017_1959_Fig5_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/454a/5809567/7fa799d01abb/10439_2017_1959_Fig6_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/454a/5809567/5ccb3cf5fdcb/10439_2017_1959_Fig7_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/454a/5809567/e90f132f0006/10439_2017_1959_Fig8_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/454a/5809567/8f384b6e5e7e/10439_2017_1959_Fig9_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/454a/5809567/a4924977194e/10439_2017_1959_Fig10_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/454a/5809567/e4fb7406023b/10439_2017_1959_Fig11_HTML.jpg

相似文献

[1]
A Robotic Flexible Drill and Its Navigation System for Total Hip Arthroplasty.

Ann Biomed Eng. 2017-11-22

[2]
A multi-modality tracking, navigation and calibration for a flexible robotic drill system for total hip arthroplasty.

Int J Med Robot. 2018-2

[3]
Computer-assisted orthopaedic surgery and robotic surgery in total hip arthroplasty.

Clin Orthop Surg. 2013-2-20

[4]
Active Robotics for Total Hip Arthroplasty.

Am J Orthop (Belle Mead NJ). 2016

[5]
Robotic systems in total hip arthroplasty--is the time ripe for a new approach?

Int J Med Robot. 2005-12

[6]
Intraoperative placement of total hip arthroplasty components with robotic-arm assisted technology correlates with postoperative implant position: a CT-based study.

Bone Joint J. 2018-10

[7]
Does Robotic-Assisted Computer Navigation Affect Acetabular Cup Positioning in Total Hip Arthroplasty in the Obese Patient? A Comparison Study.

J Arthroplasty. 2015-12

[8]
The Use of Computer Navigation and Robotic Technology in Complex Total Hip Arthroplasty.

Bull Hosp Jt Dis (2013). 2023-12

[9]
Current topics in robotic-assisted total hip arthroplasty: a review.

Hip Int. 2020-3

[10]
Does Robotic Milling For Stem Implantation in Cementless THA Result in Improved Outcomes Scores or Survivorship Compared with Hand Rasping? Results of a Randomized Trial at 10 Years.

Clin Orthop Relat Res. 2018-11

引用本文的文献

[1]
Drilling around the corner: a comprehensive literature review of steerable bone drills.

Front Med Technol. 2025-4-9

[2]
An Active Steering Hand-held Robotic System for Minimally Invasive Orthopaedic Surgery Using a Continuum Manipulator.

IEEE Robot Autom Lett. 2021-4

[3]
Robotic-Assisted 3D Bio-printing for Repairing Bone and Cartilage Defects through a Minimally Invasive Approach.

Sci Rep. 2019-3-6

本文引用的文献

[1]
Accuracy of a freehand sculpting tool for unicondylar knee replacement.

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[2]
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Comparison between hand rasping and robotic milling for stem implantation in cementless total hip arthroplasty.

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Minim Invasive Neurosurg. 2005-6

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Acta Orthop Scand. 2004-6

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