By Topic

In vitro study using cadavers for evaluation of a bone-mountable surgical robot system

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

7 Author(s)
Seong-Young Ko ; Dept. of Mech. Eng., Korea Adv. Inst. of Sci. & Technol., Daejeon, South Korea ; Jong-Ha Chung ; J. Kim ; Dong-Soo Kwon
more authors

This paper describes a bone-mountable surgical robot system for hip surgery and its in vitro experiments with cadavers. The system eliminates the need for obtaining CT scan data by adopting gauge-based, bone-mounting registration method and is designed to replace only the broaching procedure, which is known to be the most error-prone procedure in the manual surgery. The performance of this system is evaluated with specimen of six human cadavers. X-ray images and photographed image of femurs are utilized for measuring the difference between the implant and the anatomical axes. As this deviation implies how the gait pattern of the operated patient may be influenced by the surgery, the amount of deviation is used as the indicative of system performance. The nominal differences of anteversion angle, valgus-varus angle, and flexion-extension angle are 0.02±2.73°, 0.98 ±0.39° and 0.51±0.87°, respectively. In case of the change in leg length after the surgery, the nominal error is -0.88±1.26 mm. Experimental results show that the performance of the developed system is comparable to other surgical robots that use preoperative planning with CT scan data.

Published in:

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on  (Volume:4 )

Date of Conference:

27-31 Oct. 2003