Abstract
PurposeCurrent surgical robotic systems are either large serial arms, resulting in higher risks due to their high inertia and no inherent limitations of the working space, or they are bone-mounted, adding substantial additional task steps to the surgical workflow. The robot presented in this paper has a handy and lightweight design and can be easily held by the surgeon. No rigid fixation to the bone or a cart is necessary. A high-speed tracking camera together with a fast control system ensures the accurate positioning of a burring tool.MethodsThe capabilities of the robotic system to dynamically compensate for unintended motion, either of the robot itself or the patient, was evaluated. Therefore, the step response was analyzed as well as the capability to follow a moving target.ResultsThe step response show that the robot can compensate for undesired motions up to 12 Hz in any direction. While following a moving target, a maximum positioning error of 0.5 mm can be obtained with a target motion of up to 18 mm/s.ConclusionThe requirements regarding dynamic motion compensation, accuracy, and machining speed of unicompartmental knee arthroplasties, for which the robot was optimized, are achieved with the presented robotic system. In particular, the step response results show that the robot is able to compensate for human tremor.
Highlights
Most current robotic systems for computer-assisted orthopedic surgery are large serial arms, comparable to anthropomorphic industrial robots
Handheld robots have been proposed to combine the advantages of having a small robot system, being easy to handle in the intraoperative workflow without the need for a rigid fixation to the bone and with the benefit of versatile robotic tool guidance
The dropouts of the tracking latency measurements can be explained by the tracking PC not running a hard, real-time operating system
Summary
Most current robotic systems for computer-assisted orthopedic surgery are large serial arms, comparable to anthropomorphic industrial robots. Examples of those systems are the ROBODOC [1], modiCAS [2], Mako [3], Mazor X [4] and ExcelsiusGPS [5]. They have to be slowed down during operation due to their large mass and the resulting inertia, as required by ISO 10218-1 and ISO/TS 15066. Thereby, unintended motions induced by the operator can be compensated for and movement of the bone due to forces applied by the surgeon or due to breathing
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
