Title :
ARTHROBOT : a new surgical robot system for total hip arthroplasty
Author :
Kwon, Dong-Soo ; Yoon, Yong-San ; Lee, Jung-Ju ; Ko, Seong-Young ; Huh, Kwan-Hoe ; Chung, Jong-Ha ; Park, Young-Bae ; Won, Chung-Hee
Author_Institution :
Mech. Eng. Dept., Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea
Abstract :
This paper presents mechanisms and control methods of a new surgery robot for total hip arthroplasty (THA). To minimize the disadvantages of the conventional registration method, a new gauge-based registration method has been proposed, and a 3-DOF robot has been developed that can be mounted on a femur The proposed surgical robot can operate along a pre-programmed path autonomously, in addition to allowing a surgeon to directly control the motion of the surgical robot with their experience and judgment during an operation. For this purpose, a master is attached to the surgical robot and admittance display is used in control. ARTHROBOT this new arthroplastic surgical robot system, is expected to be adaptable to surgical needs and practice in the operating room
Keywords :
manipulators; medical robotics; surgery; 3-DOF robot; ARTHROBOT; THA; admittance display; femur-mounted robot; gauge-based registration method; pre-programmed path; surgery; surgical robot system; total hip arthroplasty; Bones; Clamps; Computed tomography; Hip; Implants; Joints; Medical robotics; Robots; Surgery; Surges;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.976319
