Cooperative force control of a SurgicalRobot for Total Knee Replacement

• Main Authors: Chia-Hao Tsai, 蔡家豪
• Other Authors: 顏炳郎
• Format: Others
• Language: zh-TW
• Published: 2008
• Online Access: http://ndltd.ncl.edu.tw/handle/udgpr8

碩士 === 國立臺北科技大學 === 自動化科技研究所 === 96 === Surgical blade is usually used as the bone cutter in most of traditional total knee anthroplasty surgery, in which the surface might be uneven due to the shaking of surgical blade especially with hard bones. This might be undesired. Different scenarios of bone resection in order to preserve the completeness and surface flatness of cut-off bones should be developed. In the proposed cutting process, the side edge instead of the bottom edge of the mill is used to move and cut the bone along the designated boundary of the cutting plane. 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 a cooperative impedance force control strategy between the robot and the surgeon to maintain the safety, stability and accuracy of bone resection process. Besides, to avoid harming the nerve and vessel during cutting process, active constraint near the end of the cutting trajectory is proposed. There are two areas within the active constraint, the surgeon will feel resistance if moving the mill into first area and terminated while reaching the constraint within the second area. This process will assure the patient’s safety effectively.