Design and kinematic characterization of a surgical manipulator with a focus on treating osteolysis

Ryan J. Murphy, Michael D.M. Kutzer, Sean M. Segreti, Blake C. Lucas, Mehran Armand

Research output: Contribution to journalArticlepeer-review

36 Scopus citations


This paper presents a cable-driven dexterous manipulator with a large, open lumen. One specific application for the manipulator is the treatment of the degeneration of bone tissue (osteolysis) during a less-invasive hip revision surgery. Rigid tools used in traditional approaches limit the surgeons' ability to comprehensively treat the osteolysis due to the complex geometries of the lesion. The surgical scenario, testing, kinematic modeling, and image-based inverse kinematics are described. Testing shows 94% coverage of a lesion wall; the kinematic model describes manipulator notch positions within 0.15 mm, while the image-based inverse kinematics has 0.36 mm error. This manipulator is potentially useful in treating osteolytic lesions through (1) effective lesion exploration compared to conventional techniques, and (2) rapidly performing inverse kinematics from visual feedback.

Original languageEnglish (US)
Pages (from-to)835-850
Number of pages16
Issue number6
StatePublished - Sep 2014


  • Dexterous manipulation
  • Kinematics
  • Medical robots
  • Pose estimation
  • Registration
  • Underactuated robots

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • General Mathematics
  • Computer Science Applications


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