An Active Steering Hand-Held Robotic System for Minimally Invasive Orthopaedic Surgery Using a Continuum Manipulator

This letter presents the development and experimental evaluation of an active steering hand-held robotic system for milling and curved drilling in minimally invasive orthopaedic interventions. The system comprises a cable-driven continuum dexterous manipulator (CDM), an actuation unit with a handpie...

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Bibliographic Details
Published in:IEEE robotics and automation letters 2021-04, Vol.6 (2), p.1622-1629
Main Authors: Ma, Justin H., Sefati, Shahriar, Taylor, Russell H., Armand, Mehran
Format: Article
Language:English
Subjects:
Actuation
Bones
Compliant joints and mechanisms
Confined spaces
Control stability
Controllability
Cutting tool paths
Instruments
Manipulators
medical robots and systems
Minimally invasive surgery
Orthopedics
Proportional derivative
Robot arms
Robotics
Robots
Steering
Surgery
Velocity control
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Summary:This letter presents the development and experimental evaluation of an active steering hand-held robotic system for milling and curved drilling in minimally invasive orthopaedic interventions. The system comprises a cable-driven continuum dexterous manipulator (CDM), an actuation unit with a handpiece, and a flexible, rotary cutting tool. Compared to conventional rigid drills, the proposed system enhances dexterity and reach in confined spaces in surgery, while providing direct control to the surgeon with sufficient stability while cutting/milling hard tissue. Of note, for cases that require precise motion, the system is able to be mounted on a positioning robot for additional controllability. A proportional-derivative (PD) controller for regulating drive cable tension is proposed for the stable steering of the CDM during cutting operations. The robotic system is characterized and tested with various tool rotational speeds and cable tensions, demonstrating successful cutting of three-dimensional and curvilinear tool paths in simulated cancellous bone and bone phantom. Material removal rates (MRRs) of up to 571 mm 3 /s are achieved for stable cutting, demonstrating great improvement over previous related works.
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2021.3059634