TY - GEN
T1 - Bone cutting robot with soft tissue collision avoidance capability by a redundant axis for minimally invasive orthopedic surgery
AU - Sugita, Naohiko
AU - Genma, Fumiaki
AU - Nakajima, Yoshikazu
AU - Mitsuishi, Mamoru
AU - Fujiwara, Kazuo
AU - Abe, Nobuhiro
AU - Ozaki, Toshifumi
AU - Suzuki, Masahiko
AU - Moriya, Hideshige
AU - Inoue, Takayuki
AU - Kuramoto, Koichi
AU - Nakashima, Yoshio
AU - Tanimoto, Keiji
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
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U2 - 10.1109/ICCME.2007.4381690
DO - 10.1109/ICCME.2007.4381690
M3 - Conference contribution
AN - SCOPUS:48149085552
SN - 1424410789
SN - 9781424410781
T3 - 2007 IEEE/ICME International Conference on Complex Medical Engineering, CME 2007
SP - 48
EP - 51
BT - 2007 IEEE/ICME International Conference on Complex Medical Engineering, CME 2007
T2 - 2007 IEEE/ICME International Conference on Complex Medical Engineering, CME 2007
Y2 - 23 May 2007 through 27 May 2007
ER -