Control of Fracture Reduction Robot based on Biomechanical Property of Human Leg

T. Douke, Y. Nakajima, Y. Mori, S. Onogi, N. Sugita, M. Mitsuishi, M. Bessho, S. Ohhashi, K. Tobita, I. Ohnishi, I. Sakuma, T. Dohi, Y. Maeda, T. Koyama, N. Sugano, K. Yonenobu, Y. Matsumoto, K. Nakamura

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    2 Citations (Scopus)

    Abstract

    For femoral fracture reduction, we have developed a surgical robotic system. Indirect traction is employed in our system. Indirect traction in fracture reduction is a generally used surgical method for preventing complications such as bone splits caused by high stress on bones. For traction, a patient's foot is gripped by a jig and pulled to the distal side. Indirect traction has the advantage of distributing bone stress by utilizing a strong traction force; however, this procedure does not accurately control the proper positioning of fractured fragments when a surgical robot is used. The human leg has knee and an ankle joints, and thus robotic motion presents problems in not being able to directly propagate reduction motion to a fractured femoral fragment, rendering control of bone position difficult. We propose two control methods for fracture reduction robots using external force/torque measurements of the human leg. First proposed method is using a transform function which transform from a force/torque space to a position space. Second is using a simple ligament model. Results showed that the first proposed method reduced repositioning error from 6.8 mm and 15.9 degrees to 0.7 mm and 5.3 degrees and second reduced from 2.1 mm to 0.9 mm.

    Original languageEnglish
    Title of host publicationProceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
    Pages295-299
    Number of pages5
    DOIs
    Publication statusPublished - 2008
    Event2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008 - Scottsdale, AZ, United States
    Duration: Oct 19 2008Oct 22 2008

    Publication series

    NameProceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008

    Other

    Other2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
    CountryUnited States
    CityScottsdale, AZ
    Period10/19/0810/22/08

    All Science Journal Classification (ASJC) codes

    • Artificial Intelligence
    • Computer Vision and Pattern Recognition
    • Biomedical Engineering

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