Cooperative robotic assistant with drill-by-wire end-effector for spinal fusion surgery
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Lee, Jongwon | - |
dc.contributor.author | Hwang, Inwook | - |
dc.contributor.author | Kim, Keehoon | - |
dc.contributor.author | Choi, Seungmoon | - |
dc.contributor.author | Chung, Wan Kyun | - |
dc.contributor.author | Kim, Young Soo | - |
dc.date.accessioned | 2022-12-20T23:49:34Z | - |
dc.date.available | 2022-12-20T23:49:34Z | - |
dc.date.created | 2022-08-26 | - |
dc.date.issued | 2009-01 | - |
dc.identifier.issn | 0143-991X | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/177410 | - |
dc.description.abstract | Purpose - The purpose of this paper is to present a surgical robot for spinal fusion and its control framework that provides higher operation accuracy, greater flexibility of robot position control, and improved ergonomics. Design/methodology/approach - A human-guided robot for the spinal fusion surgery has been developed with a dexterous end-effector that is capable of high-speed drilling for cortical layer gimleting and tele-operated insertion of screws into the vertebrae. The end-effector is position-controlled by a five degrees-of-freedom robot body that has a kinematically closed structure to withstand strong reaction force occurring in the surgery. The robot also allows the surgeon to control cooperatively the position and orientation of the end-effector in order to provide maximum flexibility in exploiting his or her expertise. Also incorporated for improved safety is a "drill-by-wire" mechanism wherein a screw is tele-drilled by the surgeon in a mechanically decoupled master/slave system. Finally, a torque-rendering algorithm that adds synthetic open-loop high-frequency components on feedback torque increases the realism of tele-drilling in the screw-by-wire mechanism. Findings - Experimental results indicated that this assistive robot for spinal fusion performs drilling tasks within the static regulation errors less than 0.1 mu m for position control and less than 0.05 degrees for orientation control. The users of the tele-drilling reported subjectively that they experienced torque feedback similar to that of direct screw insertion. Research limitations/implications - Although the robotic surgery system itself has been developed, integration with surgery planning and tracking systems is ongoing. Thus, the screw insertion accuracy of a whole surgery system with the assistive robot is to be investigated in the near future. Originality/value - The paper arguably pioneers the dexterous end-effector appropriately designed for spinal fusion, the cooperative robot position-control algorithm, the screw-by-wire mechanism for indirect screw insertion, and the torque-rendering algorithm for more realistic torque feedback. in particular, the system has the potential of circumventing the screw-loosening problem, a common defect in the conventional surgeon-operated or robot-assisted spinal fusion surgery. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | EMERALD GROUP PUBLISHING LTD | - |
dc.title | Cooperative robotic assistant with drill-by-wire end-effector for spinal fusion surgery | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Kim, Young Soo | - |
dc.identifier.doi | 10.1108/01439910910924684 | - |
dc.identifier.scopusid | 2-s2.0-58349083476 | - |
dc.identifier.wosid | 000263441600010 | - |
dc.identifier.bibliographicCitation | INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION, v.36, no.1, pp.60 - 72 | - |
dc.relation.isPartOf | INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION | - |
dc.citation.title | INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION | - |
dc.citation.volume | 36 | - |
dc.citation.number | 1 | - |
dc.citation.startPage | 60 | - |
dc.citation.endPage | 72 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalResearchArea | Robotics | - |
dc.relation.journalWebOfScienceCategory | Engineering, Industrial | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.subject.keywordPlus | PEDICLE SCREW PLACEMENT | - |
dc.subject.keywordPlus | GUIDANCE | - |
dc.subject.keywordPlus | SYSTEM | - |
dc.subject.keywordPlus | ACCURACY | - |
dc.subject.keywordAuthor | Robotics | - |
dc.subject.keywordAuthor | Surgery | - |
dc.subject.keywordAuthor | Body systems and organs | - |
dc.subject.keywordAuthor | Bones | - |
dc.subject.keywordAuthor | Control technology | - |
dc.subject.keywordAuthor | Torque | - |
dc.identifier.url | https://www.emerald.com/insight/content/doi/10.1108/01439910910924684/full/html | - |
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