A Surgical Robotic System for Treatment of Pelvic Osteolysis Using an FBG-Equipped Continuum Manipulator and Flexible Instruments

This article presents the development and experimental evaluation of a redundant robotic system for the less-invasive treatment of osteolysis (bone degradation) behind the acetabular implant during total hip replacement revision surgery. The system comprises a rigid-link positioning robot and a cont...

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Bibliographic Details
Published in:IEEE/ASME transactions on mechatronics 2021-02, Vol.26 (1), p.369-380
Main Authors: Sefati, Shahriar, Hegeman, Rachel, Alambeigi, Farshid, Iordachita, Iulian, Kazanzides, Peter, Khanuja, Harpal, Taylor, Russell H., Armand, Mehran
Format: Article
Language:English
Subjects:
Acetabular components
Algorithms
Biomedical materials
Bragg gratings
Continuum manipulator
Control algorithms
Control theory
Cutting
fiber Bragg grating (FBG)
Instruments
Manipulators
minimally invasive surgery
Optimization
orthopedic surgery
Position sensing
Robot arms
Robot kinematics
Robot sensing systems
Robotics
Sensors
Surgical implants
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Summary:This article presents the development and experimental evaluation of a redundant robotic system for the less-invasive treatment of osteolysis (bone degradation) behind the acetabular implant during total hip replacement revision surgery. The system comprises a rigid-link positioning robot and a continuum dexterous manipulator (CDM) equipped with highly flexible debriding tools and a fiber Bragg grating (FBG) based sensor. The robot and the continuum manipulator are controlled concurrently via an optimization-based framework using the tip position estimation (TPE) from the FBG sensor as feedback. Performance of the system is evaluated on a setup that consists of an acetabular cup and saw-bone phantom simulating the bone behind the cup. Experiments consist of performing the surgical procedure on the simulated phantom setup. CDM TPE using FBGs, target location placement, cutting performance, and the concurrent control algorithm capability in achieving the desired tasks are evaluated. Mean and standard deviation of the CDM TPE from the FBG sensor and the robotic system are 0.50 and 0.18 mm, respectively. Using the developed surgical system, accurate positioning and successful cutting of desired straight-line and curvilinear paths on saw-bone phantoms behind the cup with different densities are demonstrated. Compared to the conventional rigid tools, the workspace reach behind the acetabular cup is 2.47 times greater when using the developed robotic system.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2020.3020504