Browse > Article
http://dx.doi.org/10.7746/jkros.2017.12.4.411

Robotic Guidance of Distal Screwing for Intramedullary Nailing Using Optical Tracking System  

An, Liming (Mechanical Engineering, Chonnam National University)
Kim, Woo Young (Mechanical Engineering, Chonnam National University)
Ko, Seong Young (Mechanical Engineering, Chonnam National University)
Publication Information
The Journal of Korea Robotics Society / v.12, no.4, 2017 , pp. 411-418 More about this Journal
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
Distal Screwing; Robotic Guidance; Intramedullary Nailing Procedure; Optical Tracking System;
Citations & Related Records
연도 인용수 순위
  • Reference
1 P. Patka, "Damaged control and intramedullary nailing for long bone fractures in polytrauma patients," Injury, vol. 48, no. supplement 1, pp. s7-s9, June, 2017.
2 G.Y. Zheng, X. Zhang, D. Haschtmann, P. Gedet, X. Dong, and L.-P. Nolte, "A Robust and Accurate Two-Stage Approach for Automatic Recovery of Distal Locking Holes in Computer- Assisted Intramedullary Nailing of Femoral Shaft Fractures," IEEE Transactions on Medical Imaging, vol. 27, no. 2, pp. 171-187, Feb, 2008.   DOI
3 M. Oszwald, R. Westphal, R. Stier, R. Gaulke, A. Calafi, C.W. Muller, F. Wahl, C. Krettek, and T. Gosling, "Hands-on robotic distal interlocking in intramedullary nail fixation of femoral shaft fractures," Technology and Health Care, vol. 18, no. 4-5, pp. 325-334, Nov, 2010.
4 R.K. Soni, S.M. Mehta, B. Awasthi, J.L. Singh, A. Kumar, L. Thakur, and S.K. Tripathy, "Radiation-free Insertion of Distal Interlocking Screw in Tibial and Femur Nailing: A Simple Technique," Journal of Surgical Technique & Case Report, vol. 4, no.1, pp. 15-18, 2012.   DOI
5 Distalock, Llc, [Online], http://distalock.com/wp/wp-content/ uploads/2012/MM03RevFTechnique.pdf, pp. 19-21, Accessed: May 12, 2017.
6 T.H. Wong, T.K. Chung, T.W. Liu, H.-J. Chu, W. Hsu, P.-C. Yeh, C.-C. Chen, M.-S. Lee, and Y.-S. Yang, "Electromagnetic/ Magnetic-Coupled Targeting System for Screw-Hole Locating in Intramedullary Interlocking-Nail Surgery," IEEE Sensor Journal, vol. 14, no. 12, pp. 4402-4410, Dec, 2014.   DOI
7 G. Antonini, W. Stuflesser, C. Crippa, and G. Touloupakis, "A distal-lock electromagnetic targeting device for intramedullary nailing: Suggestions and clinical experience," Chinese Journal of Traumatology, vol. 19, no. 6, pp. 358-361, Dec, 2016.   DOI
8 S. Warisawa, T. Ishizuka, M. Mitsuishi, K. Yonenobu, N. Sugano, and T. Nakazawa, "Development of a femur fracture reduction robot," IEEE International Conference on Robotics & Automation, New Orleans, LA, April, pp. 3999-4004, 2004.
9 B. Darwish, A. Lotfy, and S. Younes, "Accurate Determination of the Sites of the Distal Hole of the Humeral Interlocking Intramedullary Nail Using Monofilament Solid Core Optical Fiber," International Journal of Sciences: Basic and Applied Research, vol. 23, no. 2, pp. 111-122, 2015.
10 J.J. Craig, "Introduction to Robotics Mechanics and Control," Third Ed., Pearson Prentice Hall, pp. 46-48, 2005.
11 E. Maki, N. Hiroshi, and H. Yutaka, "Fracture surgery support system with robustness for bones by using eddy current," IEEE International Conference on Systems Man and Cybernetics, pp. 1907-1912, 2007.
12 W.Y. Kim, S.Y. Ko, J.O. Park, and S. Park, "6-DOF force feedback control of robot-assisted bone fracture reduction system using double F/T sensors and adjustable admittances to protect bones against damage," Mechatronics, vol. 35, pp. 136-147, 2016.   DOI