TY - JOUR
T1 - An Active Steering Hand-Held Robotic System for Minimally Invasive Orthopaedic Surgery Using a Continuum Manipulator
AU - Ma, Justin H.
AU - Sefati, Shahriar
AU - Taylor, Russell H.
AU - Armand, Mehran
N1 - Funding Information:
Manuscript received October 15, 2020; accepted January 25, 2021. Date of publication February 16, 2021; date of current version March 2, 2021. This letter was recommended for publication by Associate Editor L. Fichera and Editor P. Valdastri upon evaluation of the reviewers’ comments. This work was supported by NIH under Grant 2R01EB016703, and in part by the collaborative research agreement with the Multi-Scale Medical Robotics Center in Hong Kong. (Corresponding author: Justin Ma.) Justin H. Ma and Shahriar Sefati are with the Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD 21218 USA and also with the Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21201 USA (e-mail: jma60@jhu.edu; sefati@jhu.edu).
Publisher Copyright:
© 2016 IEEE.
PY - 2021/4
Y1 - 2021/4
N2 - This letter presents the development and experimental evaluation of an active steering hand-held robotic system for milling and curved drilling in minimally invasive orthopaedic interventions. The system comprises a cable-driven continuum dexterous manipulator (CDM), an actuation unit with a handpiece, and a flexible, rotary cutting tool. Compared to conventional rigid drills, the proposed system enhances dexterity and reach in confined spaces in surgery, while providing direct control to the surgeon with sufficient stability while cutting/milling hard tissue. Of note, for cases that require precise motion, the system is able to be mounted on a positioning robot for additional controllability. A proportional-derivative (PD) controller for regulating drive cable tension is proposed for the stable steering of the CDM during cutting operations. The robotic system is characterized and tested with various tool rotational speeds and cable tensions, demonstrating successful cutting of three-dimensional and curvilinear tool paths in simulated cancellous bone and bone phantom. Material removal rates (MRRs) of up to 571 mm3/s are achieved for stable cutting, demonstrating great improvement over previous related works.
AB - This letter presents the development and experimental evaluation of an active steering hand-held robotic system for milling and curved drilling in minimally invasive orthopaedic interventions. The system comprises a cable-driven continuum dexterous manipulator (CDM), an actuation unit with a handpiece, and a flexible, rotary cutting tool. Compared to conventional rigid drills, the proposed system enhances dexterity and reach in confined spaces in surgery, while providing direct control to the surgeon with sufficient stability while cutting/milling hard tissue. Of note, for cases that require precise motion, the system is able to be mounted on a positioning robot for additional controllability. A proportional-derivative (PD) controller for regulating drive cable tension is proposed for the stable steering of the CDM during cutting operations. The robotic system is characterized and tested with various tool rotational speeds and cable tensions, demonstrating successful cutting of three-dimensional and curvilinear tool paths in simulated cancellous bone and bone phantom. Material removal rates (MRRs) of up to 571 mm3/s are achieved for stable cutting, demonstrating great improvement over previous related works.
KW - Compliant joints and mechanisms
KW - medical robots and systems
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U2 - 10.1109/LRA.2021.3059634
DO - 10.1109/LRA.2021.3059634
M3 - Article
AN - SCOPUS:85101192425
SN - 2377-3766
VL - 6
SP - 1622
EP - 1629
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 2
M1 - 9354899
ER -