Department of Orthopedics, Taipei Tzu Chi Hospital, Buddhist Tzu Chi Medical Foundation, New Taipei City, Taiwan.
School of Medicine, Tzu Chi University, Hualien, Taiwan.
Int J Med Robot. 2021 Oct;17(5):e2289. doi: 10.1002/rcs.2289. Epub 2021 Jun 5.
Handheld surgical robots offer functionalities, such as active guidance, tremor suppression and force reflection, for surgeons to enhance their skill in manipulating surgical tools during medical intervention. In orthopedic surgery, the robot additionally has to offer sufficient rigidity and power for bone machining. The size and weight of the mechanical design, together with the control behaviour associated with involuntary hand motion, navigation and reflected force to the human, all influence the overall performance of an orthopedic handheld robot.
The paper proposes a miniature and compact design for an embedded robot, which is a similar weight as a handpiece. Then, a shared controller is proposed to address the coupling among involuntary and voluntary hand motions, robot navigation, tool feedback forces and force artefacts from actuation.
The handheld robot is able to stabilize the drill positioning by removing involuntary tremors as well as reduce force artefacts from motor actuation in experiments involving pedicle tunnelling on a porcine spine.
The paper has successfully realized a compact handheld orthopedic robot which provides high performance of usability, tremor suppression and force reflection for bone drilling.
手持手术机器人为外科医生提供了主动引导、震颤抑制和力反馈等功能，以增强他们在医疗干预过程中操纵手术工具的技能。在骨科手术中，机器人还必须提供足够的刚性和功率来进行骨加工。机械设计的大小和重量，以及与非自愿手部运动、导航和向人体反射力相关的控制行为，都会影响骨科手持机器人的整体性能。
本文提出了一种嵌入式机器人的微型化和紧凑设计，其重量与手柄相当。然后，提出了一种共享控制器来解决非自愿和自愿手部运动、机器人导航、工具反馈力和致动产生的力伪影之间的耦合问题。
在对猪脊柱进行椎弓根隧道试验时，该手持机器人能够通过去除非自愿震颤以及减少电机致动产生的力伪影来稳定钻头定位。
本文成功实现了一种紧凑的骨科手持机器人，为骨钻削提供了高性能的可用性、震颤抑制和力反馈。
