Control of fracture reduction robot using force/torque measurement

T. Douke, Y. Nakajima, Y. Mori, Shinya 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
Pages3265-3268
Number of pages4
Publication statusPublished - Dec 1 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

Fingerprint

Torque measurement
Fracture Fixation
Force measurement
Torque
Traction
Robots
Bone
Bone and Bones
Robotics
Leg
Jigs
Femoral Fractures
Ankle Joint
Knee Joint
Thigh
Foot

All Science Journal Classification (ASJC) codes

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

Cite this

Douke, T., Nakajima, Y., Mori, Y., Onogi, S., Sugita, N., Mitsuishi, M., ... Nakamura, K. (2008). Control of fracture reduction robot using force/torque measurement. In Proceedings of the 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'08 (pp. 3265-3268). [4649901] (Proceedings of the 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'08 - "Personalized Healthcare through Technology").

Control of fracture reduction robot using force/torque measurement. / Douke, T.; Nakajima, Y.; Mori, Y.; Onogi, Shinya; Sugita, N.; Mitsuishi, M.; Bessho, M.; Ohhashi, S.; Tobita, K.; Ohnishi, I.; Sakuma, I.; Dohi, T.; Maeda, Y.; Koyama, T.; Sugano, N.; Yonenobu, K.; Matsumoto, Y.; Nakamura, K.

Proceedings of the 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'08. 2008. p. 3265-3268 4649901 (Proceedings of the 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'08 - "Personalized Healthcare through Technology").

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

Douke, T, Nakajima, Y, Mori, Y, Onogi, S, Sugita, N, Mitsuishi, M, Bessho, M, Ohhashi, S, Tobita, K, Ohnishi, I, Sakuma, I, Dohi, T, Maeda, Y, Koyama, T, Sugano, N, Yonenobu, K, Matsumoto, Y & Nakamura, K 2008, Control of fracture reduction robot using force/torque measurement. in Proceedings of the 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'08., 4649901, Proceedings of the 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'08 - "Personalized Healthcare through Technology", pp. 3265-3268, 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'08, Vancouver, BC, Canada, 8/20/08.
Douke T, Nakajima Y, Mori Y, Onogi S, Sugita N, Mitsuishi M et al. Control of fracture reduction robot using force/torque measurement. In Proceedings of the 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'08. 2008. p. 3265-3268. 4649901. (Proceedings of the 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'08 - "Personalized Healthcare through Technology").
Douke, T. ; Nakajima, Y. ; Mori, Y. ; Onogi, Shinya ; Sugita, N. ; Mitsuishi, M. ; Bessho, M. ; Ohhashi, S. ; Tobita, K. ; Ohnishi, I. ; Sakuma, I. ; Dohi, T. ; Maeda, Y. ; Koyama, T. ; Sugano, N. ; Yonenobu, K. ; Matsumoto, Y. ; Nakamura, K. / Control of fracture reduction robot using force/torque measurement. Proceedings of the 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'08. 2008. pp. 3265-3268 (Proceedings of the 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'08 - "Personalized Healthcare through Technology").
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