Design and real-time control of a robotic system for fracture manipulation

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

Abstract

This paper presents the design, development and control of a new robotic system for fracture manipulation. The objective is to improve the precision, ergonomics and safety of the traditional surgical procedure to treat joint fractures. The achievements toward this direction are here reported and include the design, the real-time control architecture and the evaluation of a new robotic manipulator system. The robotic manipulator is a 6-DOF parallel robot with the struts developed as linear actuators. The control architecture is also described here. The high-level controller implements a host-target structure composed by a host computer (PC), a real-time controller, and an FPGA. A graphical user interface was designed allowing the surgeon to comfortably automate and monitor the robotic system. The real-time controller guarantees the determinism of the control algorithms adding an extra level of safety for the robotic automation. The system's positioning accuracy and repeatability have been demonstrated showing a maximum positioning RMSE of 1.18 ± 1.14mm (translations) and 1.85 ± 1.54° (rotations).

Published in:

• Presentation Conference Type: Presentation / Talk
• 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: Aug 25, 2015
• Deposit Date: Jan 18, 2016
• Publicly Available Date: Feb 25, 2016
• Peer Reviewed: Peer Reviewed
• Pages: 4865-4868
• Keywords: medical robotics, fracture surgery, robot-assisted surgery, vision-based control, real-time control
• Public URL: https://uwe-repository.worktribe.com/output/829769
• Publisher URL: http://dx.doi.org/10.1109/EMBC.2015.7319483
• 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 25, 2016