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

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 publicationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Pages994-1001
Number of pages8
Volume4791 LNCS
EditionPART 1
Publication statusPublished - 2007
Event10th International Conference on Medical Imaging 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)03029743
ISSN (Electronic)16113349

Other

Other10th International Conference on Medical Imaging and Computer-Assisted Intervention, MICCAI 2007
CountryAustralia
CityBrisbane
Period10/29/0711/2/07

ASJC Scopus subject areas

  • Computer Science(all)
  • Biochemistry, Genetics and Molecular Biology(all)
  • Theoretical Computer Science

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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 Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (PART 1 ed., Vol. 4791 LNCS, 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).