Robotic creation of operating space for minimally invasive hip joint surgery

Masara Yanagihara, Jun Okamoto, Norihiro Mitsui, Masakatsu G. Fujie

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    1 Citation (Scopus)

    Abstract

    Hip joint surgeries are commonplace in our aging society. Robotic hip joint surgery is performed to cut bone precisely and is expected to be performed as minimally invasive treatment. Minimally invasive hip joint surgery needs operating space between muscle tissues and the bone around hip joint In this paper a prototype of an articulated muscle-retracting robot for minimally invasive RAO (Rotational Acetabular Osteotomy and one of the hip joint surgeries) is described. The muscle-retracting robot's role is to create an operating space between muscles and the surface of the bone for the other robot, whose role is to cut bone. The mechanical structure is very thin to follow a narrow path and tough enough to scrape and retract muscles around a hip joint. The prototype is designed based on the required specification from the previous experiments data. The prototype has 9 DOF, in which 3 DOF arms are capable of controlling the tip position and the force between muscle tissues and the surface of the bone. Evaluation of the prototype was done by using a compliant control as scraping method of muscle tissues from surface of the bone. The capability is revealed as a scraping length on a phantom of 140 mm around human hip joint model and on the living tissues of 27 mm in the crest of the ilium by magnitude of maximum force of 25 N. The scraped living tissues were a narrow part around the hip joint. We shall continue to research it and establish a stable control method to scrape tissues.

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    Pages2648-2654
    Number of pages7
    DOIs
    Publication statusPublished - 2007
    Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome
    Duration: 2007 Apr 102007 Apr 14

    Other

    Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
    CityRome
    Period07/4/1007/4/14

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    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering

    Cite this

    Yanagihara, M., Okamoto, J., Mitsui, N., & Fujie, M. G. (2007). Robotic creation of operating space for minimally invasive hip joint surgery. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 2648-2654). [4209483] https://doi.org/10.1109/ROBOT.2007.363865