2A1-A31 大腿骨骨折整復支援ロボティックシステムにおける整復動作制御のための下肢モデリング

概要

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We have been developing a surgical robotic system for femur fracture reduction. In surgeries, it is significant to position fractured bone fragments accurately for strong fracture fixation and short hospitalizations. Loading the foot of a fractured leg is generally employed as an adequate operation for repositioning the fragments because this operation does not have the risks of bone breakdown, which is often caused in skeletal traction. However, a human leg, which contains joints such as a knee joint and an ankle joint, does not move rigidly against the controlled motion of the foot. It makes bone position control difficult in our robotic system. To control the fragment positions precisely, we propose a new method, which is a feedback control and uses the biomechanical model to estimate the leg bones position by measuring the load on the foot. In this paper, the feasibility of proposed method is evaluated and discussed.
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