Control of fracture reduction robot using force/torque measurement

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

    3 Citations (Scopus)

    Abstract

    We have developed a surgical robotic system for femoral fracture reduction employing indirect traction. 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 a control method for fracture reduction robots using external force/torque measurements of the human leg to achieve precise fracture reduction. Results showed that the proposed method reduced repositioning error from 6.8 mm and 15.9 degrees to 0.7 mm and 5.3 degrees, respectively.

    Original languageEnglish
    Title of host publicationProceedings of the 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'08
    PublisherIEEE Computer Society
    Pages3265-3268
    Number of pages4
    ISBN (Print)9781424418152
    DOIs
    Publication statusPublished - 2008
    Event30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'08 - Vancouver, BC, Canada
    Duration: Aug 20 2008Aug 25 2008

    Publication series

    NameProceedings of the 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'08 - "Personalized Healthcare through Technology"

    Other

    Other30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'08
    CountryCanada
    CityVancouver, BC
    Period8/20/088/25/08

    All Science Journal Classification (ASJC) codes

    • Computer Vision and Pattern Recognition
    • Signal Processing
    • Biomedical Engineering
    • Health Informatics

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