Int J Med Robot - Introducing haptic capabilities to a bone-mounted robot for intra-operative surface scanning.

Tópicos

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Resumo

CKGROUND: Bone-mounted robots for orthopaedic surgery are small, cost-effective and could reduce invasiveness. Preoperative planning requires imaging (e.g. X-ray, CT, MRI) and a registration procedure, which introduces error. Accuracy might be improved by building an intraoperative anatomical model in the robot's own coordinate system, utilizing the rigid bone-robot connection.METHODS: Haptic capabilities were added to MBARS and user tests were conducted to help design the haptic control loop. The accuracy of a 3D physical scan was tested on a femur model.RESULTS: Indication for force scaling and mode switching was found. Average distance error of collected points from the surface scanned by the robot was 0.3 mm.CONCLUSIONS: It is suggested that haptic control of bone-mounted robots should be non-linear and not necessarily transparent. Haptic surface acquisition can be used to generate an accurate intraoperative model of a joint surface.

Resumo Limpo

ckground bonemount robot orthopaed surgeri small costeffect reduc invas preoper plan requir imag eg xray ct mri registr procedur introduc error accuraci might improv build intraop anatom model robot coordin system util rigid bonerobot connectionmethod haptic capabl ad mbar user test conduct help design haptic control loop accuraci d physic scan test femur modelresult indic forc scale mode switch found averag distanc error collect point surfac scan robot mmconclus suggest haptic control bonemount robot nonlinear necessarili transpar haptic surfac acquisit can use generat accur intraop model joint surfac

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