Abstract
Robotics has shown its potential not only in assisting the surgeon during an intervention but also as a tool for training and for surgical procedure's evaluation. Thus, robotics can constitute an extension of simulators that are based on the high capabilities of computer graphics. In addition, haptics has taken a first step in increasing the performance of current virtual reality systems based uniquely on computer simulation and their corresponding interface devices. As a further step in the field of training and learning in surgery, this work describes a robotic experimental workstation composed of robots and specific measuring devices, together with their corresponding control and monitoring strategies for orthopaedic surgery. Through a case study, humerus arthroplasty, experimental evaluation shows the possibilities of having a test bed available for repetitive and quantifiable trials, which make a reliable scientific comparison between different surgical strategies possible.
Highlights
Current surgical practice shows that some kinds of orthopaedic interventions rely on procedures that are performed in a highly intuitive way, based on the knowledge of human anatomy and medical praxis
The different application fields in which robotics and virtual reality can assist in surgery are assistance along an intervention, experimentation on new techniques and procedures, and surgical training
Enormous efforts have been devoted to robot assistance during an intervention, either to achieve some automated actions or to use any teleoperation mode
Summary
Current surgical practice shows that some kinds of orthopaedic interventions rely on procedures that are performed in a highly intuitive way, based on the knowledge of human anatomy and medical praxis In such interventions, the lack of precise measures and anatomical references, as well as the differences between patients, hinder, in many cases, the establishment of a methodical and optimal procedure in which all the involved actions can be precisely quantified. It is not addressed to tackle a concrete surgical technique, but toward the design and implementation of a robotic environment that allows the physical experimentation of surgical techniques that rely on the use of robotics at different levels, ranging from auxiliary or evaluation functions (robot as a measuring instrument) to executive functions (such as cutting or knotting) These robotic operations can be performed in a master–slave configuration, or even automatically, if the task is planned with precise pre-defined models
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