Sefati Shahriar, Hegeman Rachel, Iordachita Iulian, Taylor Russell H, Armand Mehran
Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD 21218 USA.
Department of Orthopedic Surgery, The Johns Hopkins Medical School, Baltimore, MD 21205 USA.
IEEE Trans Robot. 2022 Apr;38(2):1213-1229. doi: 10.1109/tro.2021.3091283. Epub 2021 Jul 21.
This article presents a dexterous robotic system for autonomous debridement of osteolytic bone lesions in confined spaces. The proposed system is distinguished from the state-of-the-art orthopedics systems because it combines a rigid-link robot with a continuum manipulator (CM) that enhances reach in difficult-to-access spaces often encountered in surgery. The CM is equipped with flexible debriding instruments and fiber Bragg grating sensors. The surgeon plans on the patient's preoperative computed tomography and the robotic system performs the task autonomously under the surgeon's supervision. An optimization-based controller generates control commands on the fly to execute the task while satisfying physical and safety constraints. The system design and controller are discussed and extensive simulation, phantom and human cadaver experiments are carried out to evaluate the performance, workspace, and dexterity in confined spaces. Mean and standard deviation of target placement are 0.5 and 0.18 mm, and the robotic system covers 91% of the workspace behind an acetabular implant in treatment of hip osteolysis, compared to the 54% that is achieved by conventional rigid tools.
本文介绍了一种用于在受限空间内自主清创溶骨性骨病变的灵巧机器人系统。所提出的系统与现有最先进的骨科系统不同，因为它将刚性连杆机器人与连续体机械手（CM）相结合，后者增强了在手术中经常遇到的难以到达的空间中的可达性。CM配备了柔性清创器械和光纤布拉格光栅传感器。外科医生根据患者术前的计算机断层扫描进行规划，机器人系统在外科医生的监督下自主执行任务。基于优化的控制器实时生成控制命令，以在满足物理和安全约束的同时执行任务。讨论了系统设计和控制器，并进行了广泛的模拟、模型和人体尸体实验，以评估受限空间内的性能、工作空间和灵活性。目标放置的平均值和标准差分别为0.5和0.18毫米，在治疗髋部骨溶解时，机器人系统覆盖髋臼植入物后方91%的工作空间，而传统刚性工具只能覆盖54%。
