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

研究成果: 著書/レポートタイプへの貢献会議での発言

3 引用 (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.

元の言語英語
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
ページ3265-3268
ページ数4
出版物ステータス出版済み - 12 1 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
カナダ
Vancouver, BC
期間8/20/088/25/08

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

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 using force/torque measurement. : 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").

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 using force/torque measurement. : 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, カナダ, 8/20/08.
Douke T, Nakajima Y, Mori Y, Onogi S, Sugita N, Mitsuishi M その他. 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. 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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