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

研究成果: 書籍/レポート タイプへの寄稿会議への寄与

3 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトルProceedings of the 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'08
出版社IEEE Computer Society
ページ3265-3268
ページ数4
ISBN(印刷版)9781424418152
DOI
出版ステータス出版済み - 2008
外部発表はい
イベント30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'08 - Vancouver, BC, カナダ
継続期間: 8月 20 20088月 25 2008

出版物シリーズ

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

その他

その他30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'08
国/地域カナダ
CityVancouver, BC
Period8/20/088/25/08

!!!All Science Journal Classification (ASJC) codes

  • コンピュータ ビジョンおよびパターン認識
  • 信号処理
  • 生体医工学
  • 健康情報学

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