Development of a Surgical Robot for Total Knee Replacement

• Main Authors: Chi-Chung Lai, 賴志仲
• Other Authors: 顏炳郎
• Format: Others
• Language: zh-TW
• Published: 2006
• Online Access: http://ndltd.ncl.edu.tw/handle/4scdx8

碩士 === 國立臺北科技大學 === 自動化科技研究所 === 94 === Total Knee Replacement Surgery becomes the main selection of knee treatment in the last decade. Although the replacement surgery could be achieved by utilizing specific tools, however, the physiological features of the bones from each patient are not exactly the same, which resulting imperfect bone cutting and alignment of implants. Therefore, by combining the technique of operating surgery in assistant of the robots, the outperform characteristics of flexibility to different surgery conditions and high-precise bone cutting techniques can be achieved through the use of robots. This paper aims to present a development of this new operating technology. Due to the capability of convenience, safety and precision required in the process of a surgery. The characteristics of light-weight, high-stiffness and high-precision are needed according to the above specifications. Thus a parallel structure is the best choice among various mechanisms. This paper adopts a 3-DOF Cartesian parallel manipulator as the core of the assist-surgery robot, which performs the analysis of the mechanics and stiffness to this structure. Besides, by emphasizing the feature of decoupling (Single Input-Single Output), a modification of attaching three rotating axis is added so as to increase the degree-of-freedom which may become more suitable for the surgical operation. By utilizing the above function with position control and path planning algorithm, the doctor can control the position of the platform easily and accomplish the task of assisting bone cutting in this system. The material of imitated human bones has been manufactured, and the Saw bone cutting experiments are peformed as the last stage of our whole experiments. By measuring the point features to obtain the orientation of the bone and by adding compesated cutting path, results shows that the angle error between the connection of Femoral and Tebial mechanical axis is 2.44 degree and the angle error is 0.75 degree in epicondylar axis, which met the error in practical requirement for total knee replacement surgery.