Title :
A Novel Robotic Assistant for Reducing Hand-Held Surgical Tool Tremor in Surgical Navigation
Author :
Zhang, Wenqiang ; Pan, Yan
Author_Institution :
Dept. of Comput. Sci. & Eng., Fudan Univ., Shanghai, China
Abstract :
Physiological tremor may cause difficulties in computer aided navigation in orthopedics. The hand tremor test is provided in this paper, which showed that the tremor is about 0.5 ~ 1 mm when hand-held drilling in orthopedics. A novel robotic assistant in performing distal locking of long bone intramedullary nails is developed. And the tremor at the end of the instrument is effectively reduced. This paper describes the new methods for accurate and robust drill guide and reports the results of in-vitro system accuracy experiments.
Keywords :
computerised navigation; manipulators; medical robotics; orthopaedics; surgery; computer aided navigation; distal locking; drill guide; hand tremor test; hand-held surgical tool; long bone intramedullary nails; orthopedics; physiological tremor; robotic assistant; surgical navigation; Bones; Drilling; In vitro; Instruments; Nails; Navigation; Orthopedic surgery; Robots; Robustness; Testing;
Conference_Titel :
Bioinformatics and Biomedical Engineering , 2009. ICBBE 2009. 3rd International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-2901-1
Electronic_ISBN :
978-1-4244-2902-8
DOI :
10.1109/ICBBE.2009.5162225
