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

fYear

2009

fDate

11-13 June 2009

Firstpage

1

Lastpage

4

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICBBE.2009.5162225

Filename

5162225