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首页> 外文会议>International Society for Computer Assisted Orthopaedic Surgery. Meeting >Lateral milling of bone for total knee arthroplasty using an impedance force controlled hybrid cartesian knee surgical robot
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Lateral milling of bone for total knee arthroplasty using an impedance force controlled hybrid cartesian knee surgical robot

机译：使用阻抗力控制的混合动力笛卡尔膝盖外科机器人横向铣削骨骼整体膝关节形成术

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Introduction: Robotic knee surgery performs bone cutting without relying on mechanical jigs during bone preparation of TKA (Total Knee Arthroplasty). The inaccuracy induced by loose jig fixation and slot width tolerance can, subsequently, be avoided. Mill is usually used as the bone cutter in most of the current knee surgical robots [1-3], in which all bones are milled out. This might not be desired. In some cases, the cut bone may be used by the surgeon for adjustment of soft tissue balance and/or varus/valgus for some patients. Therefore the existent bone cutting method may not be adequate. Different scenarios of bone cutting in order to preserve the cut-off bones to be in pieces should be developed. In the proposed cutting process, the lateral edge instead of the end edge of the mill is used to move along the designated cutting plane and cut the bone. Thus cut-off bone is in the form of pieces rather than blurs or chips. However, this cutting process will give rise to large and non-uniform cut forces on the cutter. As a result, the cutter is under large bending and the cutting trajectory may be deviated or, even worse, the cutter may be broken. To overcome the problem, the paper proposed an impedance force control strategy [4] to maintain the stability and accuracy of bone cutting process.
机译：简介：机器人膝关节手术表演骨切割而不依赖于TKA的骨骼制剂期间的机械夹具（总膝关节置换术）。随后，可以避免通过松动的夹具固定和槽宽度公差引起的不准确性。轧机通常用作大多数当前膝盖手术机器人[1-3]中的骨切割器，其中磨出所有骨骼。这可能是不可望的。在一些情况下，外科医生可以使用切割骨来调节一些患者的软组织平衡和/或valgus。因此，存在的骨切割方法可能不足。应该开发出不同的骨切割场景，以保护截止骨头以碎片。在所提出的切割过程中，横向边缘代替研磨机的端边缘用于沿着指定的切割平面移动并切割骨骼。因此，切断骨是片的形式而不是模糊或碎片。然而，这种切割过程将导致刀具上的大而非均匀的切割。结果，切割器处于大的弯曲，并且切割轨迹可以偏离或者甚至更差，切割器可能被破坏。为了克服这个问题，本文提出了阻抗力控制策略[4]以维持骨​​切割过程的稳定性和准确性。

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