The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Robotic Guidance of Distal Screwing for Intramedullary Nailing Using Optical Tracking System

광학식측정장치를 이용한 금속정 내고정 수술의 원위부 나사체결을 위한 로보틱 유도 시스템

  • An, Liming (Mechanical Engineering, Chonnam National University) ;
  • Kim, Woo Young (Mechanical Engineering, Chonnam National University) ;
  • Ko, Seong Young (Mechanical Engineering, Chonnam National University)
  • Received : 2017.05.15
  • Accepted : 2017.11.10
  • Published : 2017.11.30
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Abstract

During the intramedullary nailing procedure, surgeons feel difficulty in manipulation of the X-ray device to align it to axes of nailing holes and suffer from the large radiation exposure from the X-ray device. These problems are caused by the fact the surgeon cannot see the hole's location directly and should use the X-ray device to find the hole's location and direction. In this paper, we proposed the robotic guidance of the distal screwing using an optical tracking system. To track the location of the hole for the distal screwing, the reference marker is attached to the proximal end of an intramedullary nail. To guide the drill's direction robustly, the 6-degree-of-freedom robotic arm is used. The robotic arm is controlled so as to align the drill guiding tool attached the robotic arm with the obtained the hole's location. For the safety, the robot's linear and angular velocities are restricted to the predefined values. The experimental results using the artificial bones showed that the position error and the orientation error were 0.91 mm and $1.64^{\circ}$, respectively. The proposed method is simple and easy to implement, thus it is expected to be adopted easily while reducing the radiation exposure significantly.

Keywords

References

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