Research on grinding system of robot-assisted artificial cervical disc replacement surgery

Author

Wu, Dongmei ; Zhang, Litao ; Hao, Guangxin ; Du, Zhijiang

Author_Institution

State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China

fYear

2012

fDate

5-8 Aug. 2012

Firstpage

629

Lastpage

634

Abstract

Artificial cervical disc replacement surgery is not widely accepted mainly because many problems such as inadequate precision, excessive radiation and other issues need to be solved. A medical robot has been designed to complete positioning and grinding bone mating surfaces with prosthesis in artificial cervical disc replacement surgery. Firstly, the mechanical design of the 6-DOF (Degree of Freedom) parallel robot and the control system design are presented. Then kinematic analysis and grinding trajectory planning for the medical robot are described. Finally, the experiment of the robotassisted cervical disc replacement surgery was carried out with a sheep cervical spine as experimental subject. The experiment on this platform verified rationality and feasibility for the robotassisted cervical disc replacement surgery.

Keywords

bone; grinding; medical robotics; path planning; prosthetics; robot kinematics; surgery; trajectory control; 6-DOF parallel robot mechanical design; 6-degree of freedom parallel robot; bone mating surface grinding; bone mating surface positioning; control system design; grinding system; grinding trajectory planning; kinematic analysis; medical robot; prosthesis; robot-assisted artificial cervical disc replacement surgery; sheep cervical spine; Bones; Interpolation; Planning; Prosthetics; Robots; Surgery; Trajectory; Artificial Cervical Disc Replacement; Grinding Planning; Kinematic Analysis; Parallel Robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2012 International Conference on

Conference_Location

Chengdu

Print_ISBN

978-1-4673-1275-2

Type

conf

DOI

10.1109/ICMA.2012.6283180

Filename

6283180