NDLI: Robot-assisted femoral stem implantation using an intramedulla gauge

Content Provider	IEEE Xplore Digital Library
Author	Jong-Ha Chung Seong-Young Ko Dong-Soo Kwon Jung-Ju Lee Yong-San Yoon Choong-Hee Won
Copyright Year	1989
Abstract	This paper presents a gauge-based registration method, a femur-mountable robot for hip arthroplasty named ARTHROBOT, and the surgery procedure using this system. In the gauge-based registration, a reamer-shaped gauge is inserted into the femoral medulla for relative positional information of the femur to the robot. A mounting frame and a minirobot are then mounted on the patient's femur for accurate machining. This gauge-based registration method drastically reduces the processes in preoperative planning by eliminating the need of computer tomography scanning or other image processing methods, compared to other robotic systems that are used for hip surgery. Also, this surgical system reduces damage to the femur because only the metaphyseal region of the femoral canal needs to be machined, while leaving the diaphyseal hard bone untouched. Experiments were performed on 18 composite bones and 12 pig bones. In the composite bone group, orientation (anterversion, varus/valgus and flexion/extension) errors were made at 0.13/spl deg//spl plusmn/0.77/spl deg/, 0.14/spl deg//spl plusmn/0.38/spl deg/, and -0.27/spl deg//spl plusmn/0.33/spl deg/, and the maximum position error was at 1.00 mm. In the pig bone group, orientation errors were made at -0.03/spl deg//spl plusmn/0.65/spl deg/, 0.31/spl plusmn/0.27/spl deg/, and -0.36/spl deg//spl plusmn/0.36/spl deg/, and the maximum position error was at 1.12 mm. Also, 93% of the gaps between the bone and the implant surface were under 0.25 mm. The developed system shows sufficient machining accuracy and precision for clinical application.
Starting Page	885
Ending Page	892
Page Count	8
File Size	1216056
File Format	PDF
ISSN	1042296X
Volume Number	19
Issue Number	5
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-10-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Bones Surgery Hip Machining Process planning Tomography Image processing Irrigation Implants
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering

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