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

研究成果: 著書/レポートタイプへの貢献会議での発言

2 引用 (Scopus)

抄録

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.

元の言語英語
ホスト出版物のタイトルProceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
ページ295-299
ページ数5
DOI
出版物ステータス出版済み - 12 1 2008
イベント2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008 - Scottsdale, AZ, 米国
継続期間: 10 19 200810 22 2008

出版物シリーズ

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

その他

その他2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
米国
Scottsdale, AZ
期間10/19/0810/22/08

Fingerprint

Bone
Robots
Robotics
Torque measurement
Jigs
Force measurement
Ligaments
Torque

All Science Journal Classification (ASJC) codes

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

これを引用

Douke, T., Nakajima, Y., Mori, Y., Onogi, S., Sugita, N., Mitsuishi, M., ... Nakamura, K. (2008). Control of Fracture Reduction Robot based on Biomechanical Property of Human Leg. : Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008 (pp. 295-299). [4762920] (Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008). https://doi.org/10.1109/BIOROB.2008.4762920

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

Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008. 2008. p. 295-299 4762920 (Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008).

研究成果: 著書/レポートタイプへの貢献会議での発言

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 based on Biomechanical Property of Human Leg. : Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008., 4762920, Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008, pp. 295-299, 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008, Scottsdale, AZ, 米国, 10/19/08. https://doi.org/10.1109/BIOROB.2008.4762920
Douke T, Nakajima Y, Mori Y, Onogi S, Sugita N, Mitsuishi M その他. Control of Fracture Reduction Robot based on Biomechanical Property of Human Leg. : Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008. 2008. p. 295-299. 4762920. (Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008). https://doi.org/10.1109/BIOROB.2008.4762920
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. / Control of Fracture Reduction Robot based on Biomechanical Property of Human Leg. Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008. 2008. pp. 295-299 (Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008).
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