Cutting tool system to minimize soft tissue damage for robot-assisted minimally invasive orthopedic surgery

Naohiko Sugita, Yoshikazu Nakajima, Mamoru Mitsuishi, Shosaku Kawata, Kazuo Fujiwara, Nobuhiro Abe, Toshifumi Ozaki, Masahiko Suzuki

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

1 Citation (Scopus)

Abstract

Minimally invasive surgery in orthopedic field is considered to be a challenging problem with a milling robot. One objective of this study is to minimize collision of the cutting tool with soft tissue. The authors have developed a robot with redundant axis to avoid the collision so far, Some important components are modeled based on physical requirements, and a geometric optimization approach based on the model has been also proposed to improve performance. In this paper, a protective mechanism to cover the non-working part of the cutting edge is proposed to avoid soft tissue damage. Hardware and software have been developed for this application and the effectiveness of this technique was evaluated with urethane bone.

Original languageEnglish
Title of host publicationMedical Image Computing and Computer-Assisted Intervention - 10th International Conference, Proceedings
PublisherSpringer Verlag
Pages994-1001
Number of pages8
EditionPART 1
ISBN (Print)9783540757566
DOIs
Publication statusPublished - Jan 1 2007
Event10th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2007 - Brisbane, Australia
Duration: Oct 29 2007Nov 2 2007

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
NumberPART 1
Volume4791 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference10th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2007
CountryAustralia
CityBrisbane
Period10/29/0711/2/07

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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  • Cite this

    Sugita, N., Nakajima, Y., Mitsuishi, M., Kawata, S., Fujiwara, K., Abe, N., Ozaki, T., & Suzuki, M. (2007). Cutting tool system to minimize soft tissue damage for robot-assisted minimally invasive orthopedic surgery. In Medical Image Computing and Computer-Assisted Intervention - 10th International Conference, Proceedings (PART 1 ed., pp. 994-1001). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4791 LNCS, No. PART 1). Springer Verlag. https://doi.org/10.1007/978-3-540-75757-3_120