Bone cutting robot with soft tissue collision avoidance capability by a redundant axis for minimally invasive orthopedic surgery

Naohiko Sugita, Fumiaki Genma, Yoshikazu Nakajima, Mamoru Mitsuishi, Kazuo Fujiwara, Nobuhiro Abe, Toshihumi Ozaki, Masahiko Suzuki, Hideshige Moriya, Takayuki Inoue, Koichi Kuramoto, Yoshio Nakashima, Keiji Tanimoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Many of the robots developed so far, including our multi-axis bone cutting robot, use an end mill as the cutting tool, and some problems should be solved to apply them to the minimally invasive orthopedic surgery. Minimally invasive surgery makes the incisions smaller, reduces pain and trauma to the body, and enables faster recovery. The smaller incision means a small and narrow opening area. This means the robot attitude for the bone resection is restricted, and it can result in the collision of the tool with the surrounding tissue, the existence of an untouched area and the degradation of the joint position accuracy. This paper proposes a robot mechanism and a toolpath generation technique specialized for bone cutting is expected to resolve these issues.

Original languageEnglish
Title of host publication2007 IEEE/ICME International Conference on Complex Medical Engineering, CME 2007
Pages48-51
Number of pages4
DOIs
Publication statusPublished - 2007
Event2007 IEEE/ICME International Conference on Complex Medical Engineering, CME 2007 - Beijing, China
Duration: May 23 2007May 27 2007

Other

Other2007 IEEE/ICME International Conference on Complex Medical Engineering, CME 2007
CountryChina
CityBeijing
Period5/23/075/27/07

Fingerprint

Minimally Invasive Surgical Procedures
Orthopedics
Collision avoidance
Surgery
Bone
Robots
Tissue
Bone and Bones
Cutting tools
Joints
Pain
Wounds and Injuries
Recovery
Degradation

ASJC Scopus subject areas

  • Biomedical Engineering
  • Medicine(all)

Cite this

Sugita, N., Genma, F., Nakajima, Y., Mitsuishi, M., Fujiwara, K., Abe, N., ... Tanimoto, K. (2007). Bone cutting robot with soft tissue collision avoidance capability by a redundant axis for minimally invasive orthopedic surgery. In 2007 IEEE/ICME International Conference on Complex Medical Engineering, CME 2007 (pp. 48-51). [4381690] https://doi.org/10.1109/ICCME.2007.4381690

Bone cutting robot with soft tissue collision avoidance capability by a redundant axis for minimally invasive orthopedic surgery. / Sugita, Naohiko; Genma, Fumiaki; Nakajima, Yoshikazu; Mitsuishi, Mamoru; Fujiwara, Kazuo; Abe, Nobuhiro; Ozaki, Toshihumi; Suzuki, Masahiko; Moriya, Hideshige; Inoue, Takayuki; Kuramoto, Koichi; Nakashima, Yoshio; Tanimoto, Keiji.

2007 IEEE/ICME International Conference on Complex Medical Engineering, CME 2007. 2007. p. 48-51 4381690.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Sugita, N, Genma, F, Nakajima, Y, Mitsuishi, M, Fujiwara, K, Abe, N, Ozaki, T, Suzuki, M, Moriya, H, Inoue, T, Kuramoto, K, Nakashima, Y & Tanimoto, K 2007, Bone cutting robot with soft tissue collision avoidance capability by a redundant axis for minimally invasive orthopedic surgery. in 2007 IEEE/ICME International Conference on Complex Medical Engineering, CME 2007., 4381690, pp. 48-51, 2007 IEEE/ICME International Conference on Complex Medical Engineering, CME 2007, Beijing, China, 5/23/07. https://doi.org/10.1109/ICCME.2007.4381690
Sugita N, Genma F, Nakajima Y, Mitsuishi M, Fujiwara K, Abe N et al. Bone cutting robot with soft tissue collision avoidance capability by a redundant axis for minimally invasive orthopedic surgery. In 2007 IEEE/ICME International Conference on Complex Medical Engineering, CME 2007. 2007. p. 48-51. 4381690 https://doi.org/10.1109/ICCME.2007.4381690
Sugita, Naohiko ; Genma, Fumiaki ; Nakajima, Yoshikazu ; Mitsuishi, Mamoru ; Fujiwara, Kazuo ; Abe, Nobuhiro ; Ozaki, Toshihumi ; Suzuki, Masahiko ; Moriya, Hideshige ; Inoue, Takayuki ; Kuramoto, Koichi ; Nakashima, Yoshio ; Tanimoto, Keiji. / Bone cutting robot with soft tissue collision avoidance capability by a redundant axis for minimally invasive orthopedic surgery. 2007 IEEE/ICME International Conference on Complex Medical Engineering, CME 2007. 2007. pp. 48-51
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