Title :
BRIGIT, a Robotized Tool Guide for Orthopedic Surgery
Author :
Maillet, Pierre ; Nahum, Bertin ; Blondel, Lucien ; Poignet, Philippe ; Dombre, Etienne
Author_Institution :
MedTech SA Cap Omega, Rond-point Benjamin Franklin, CS 39 521 34960 Montpellier Cedex 02, France p.maillet@medtech.fr
Abstract :
The BRIGIT project (Bone Resection Instrument Guidance by Intelligent Telemanipulator) aims at developing a surgical robot for orthopedic surgery. This robot should be used as a positioner of a guide providing a mechanical support during bone sawing or drilling. The planned position of the guide is obtained after a registration procedure consisting in collecting anatomical landmarks on the surface of the patient´s bone. This can be done in a cooperative mode, by grabbing the tool tip, through an appropriate force control, or in a teleoperated mode via a master device. In order to facilitate the installation of the robot in the operating theatre and to improve its performance, a procedure based on interval analysis has been developed to optimize the robot placement with respect to the patient, the surgical staff, and the obstacles of the environment.
Keywords :
Medical robotics; interval analysis; orthopedics; robot placement; Bones; Computed tomography; Drilling; Force control; Intelligent robots; Medical robotics; Orthopedic surgery; Robot sensing systems; Service robots; Surges; Medical robotics; interval analysis; orthopedics; robot placement;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570121