2P1-B05 多軸医用加工ロボットにおける術具経路を考慮した最適皮切位置提示(医療ロボティクス・メカトロニクス)

概要

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Computer- and robot-assisted Total Knee Arthroplasty (TKA) can achieves the accurate bone cutting while the operation time is increased. Meanwhile, minimally invasive surgery (MIS-TKA) has been attempted recently, but there are some issues to realize the acceptable machining precision. To achieve the accurate MIS-TKA, the authors have developed the robot-assisted MIS-TKA system. One of the difficulties to achieve robot-assisted MIS-TKA is the decision of incision location. It is difficult to determine the optimal incision location for the robotic system and that cause the incision many times and longer the surgical time. In this study a system is proposed to present the optimal incision location before the actual incision and the efficiency is evaluated. The experiments with pig leg and model bone showed that the incision length could be less than 80 mm and the experiments were completed with 45 minutes from leg fixation to bone cutting.
一般社団法人日本機械学会の論文
2011-05-26