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: Chapter in Book/Report/Conference proceedingConference contribution

    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
    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 20 20088 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
    Countryカナダ
    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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