Preliminary analysis of force-torque measurements for robot-assisted fracture surgery

Georgilas, Ioannis; Dagnino, Giulio; Tarassoli, Payam; Atkins, Roger; Dogramadzi, Sanja

Abstract

© 2015 IEEE. Our group at Bristol Robotics Laboratory has been working on a new robotic system for fracture surgery that has been previously reported [1]. The robotic system is being developed for distal femur fractures and features a robot that manipulates the small fracture fragments through small percutaneous incisions and a robot that re-aligns the long bones. The robots controller design relies on accurate and bounded force and position parameters for which we require real surgical data. This paper reports preliminary findings of forces and torques applied during bone and soft tissue manipulation in typical orthopaedic surgery procedures. Using customised orthopaedic surgical tools we have collected data from a range of orthopaedic surgical procedures at Bristol Royal Infirmary, UK. Maximum forces and torques encountered during fracture manipulation which involved proximal femur and soft tissue distraction around it and reduction of neck of femur fractures have been recorded and further analysed in conjunction with accompanying image recordings. Using this data we are establishing a set of technical requirements for creating safe and dynamically stable minimally invasive robot-assisted fracture surgery (RAFS) systems.

• Presentation Conference Type: Conference Paper (published)
• Conference Name: International Conference of the IEEE Engineering in Medicine and Biology Society
• Start Date: Aug 25, 2015
• End Date: Aug 29, 2015
• Acceptance Date: Apr 15, 2015
• Publication Date: Nov 4, 2015
• Deposit Date: Jan 18, 2016
• Publicly Available Date: Feb 20, 2016
• Journal: Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
• Print ISSN: 1557-170X
• Peer Reviewed: Peer Reviewed
• Volume: 2015-November
• Pages: 4902-4905
• Book Title: 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)
• DOI: https://doi.org/10.1109/EMBC.2015.7319491
• Keywords: medical robotics, fracture surgery, robot-assisted surgery, vision-based control, real-time control
• Public URL: https://uwe-repository.worktribe.com/output/829729
• Publisher URL: http://dx.doi.org/10.1109/EMBC.2015.7319491
• Additional Information: Additional Information : © 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.; Title of Conference or Conference Proceedings : Engineering in Medicine and Biology Society (EMBC), 2015 37th Annual International Conference of the IEEE
• Contract Date: Feb 20, 2016