Cutting tool system to minimize soft tissue damage for robot-assisted minimally invasive orthopedic surgery

Naohiko Sugita; Yoshikazu Nakajima; Mamoru Mitsuishi; Shosaku Kawata; Kazuo Fujiwara; Nobuhiro Abe; Toshifumi Ozaki; Masahiko Suzuki

doi:10.1007/978-3-540-75757-3_120

Cutting tool system to minimize soft tissue damage for robot-assisted minimally invasive orthopedic surgery

Naohiko Sugita, Yoshikazu Nakajima, Mamoru Mitsuishi, Shosaku Kawata, Kazuo Fujiwara, Nobuhiro Abe, Toshifumi Ozaki, Masahiko Suzuki

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

Minimally invasive surgery in orthopedic field is considered to be a challenging problem with a milling robot. One objective of this study is to minimize collision of the cutting tool with soft tissue. The authors have developed a robot with redundant axis to avoid the collision so far, Some important components are modeled based on physical requirements, and a geometric optimization approach based on the model has been also proposed to improve performance. In this paper, a protective mechanism to cover the non-working part of the cutting edge is proposed to avoid soft tissue damage. Hardware and software have been developed for this application and the effectiveness of this technique was evaluated with urethane bone.

Original language	English
Title of host publication	Medical Image Computing and Computer-Assisted Intervention - 10th International Conference, Proceedings
Publisher	Springer Verlag
Pages	994-1001
Number of pages	8
Edition	PART 1
ISBN (Print)	9783540757566
DOIs	https://doi.org/10.1007/978-3-540-75757-3_120
Publication status	Published - 2007
Event	10th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2007 - Brisbane, Australia Duration: Oct 29 2007 → Nov 2 2007

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Number	PART 1
Volume	4791 LNCS
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	10th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2007
Country/Territory	Australia
City	Brisbane
Period	10/29/07 → 11/2/07

ASJC Scopus subject areas

Theoretical Computer Science
Computer Science(all)

Access to Document

10.1007/978-3-540-75757-3_120

Cite this

Sugita, N., Nakajima, Y., Mitsuishi, M., Kawata, S., Fujiwara, K., Abe, N., Ozaki, T., & Suzuki, M. (2007). Cutting tool system to minimize soft tissue damage for robot-assisted minimally invasive orthopedic surgery. In Medical Image Computing and Computer-Assisted Intervention - 10th International Conference, Proceedings (PART 1 ed., pp. 994-1001). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4791 LNCS, No. PART 1). Springer Verlag. https://doi.org/10.1007/978-3-540-75757-3_120

Cutting tool system to minimize soft tissue damage for robot-assisted minimally invasive orthopedic surgery. / Sugita, Naohiko; Nakajima, Yoshikazu; Mitsuishi, Mamoru et al.
Medical Image Computing and Computer-Assisted Intervention - 10th International Conference, Proceedings. PART 1. ed. Springer Verlag, 2007. p. 994-1001 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4791 LNCS, No. PART 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Sugita, N, Nakajima, Y, Mitsuishi, M, Kawata, S, Fujiwara, K, Abe, N, Ozaki, T & Suzuki, M 2007, Cutting tool system to minimize soft tissue damage for robot-assisted minimally invasive orthopedic surgery. in Medical Image Computing and Computer-Assisted Intervention - 10th International Conference, Proceedings. PART 1 edn, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), no. PART 1, vol. 4791 LNCS, Springer Verlag, pp. 994-1001, 10th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2007, Brisbane, Australia, 10/29/07. https://doi.org/10.1007/978-3-540-75757-3_120

Sugita N, Nakajima Y, Mitsuishi M, Kawata S, Fujiwara K, Abe N et al. Cutting tool system to minimize soft tissue damage for robot-assisted minimally invasive orthopedic surgery. In Medical Image Computing and Computer-Assisted Intervention - 10th International Conference, Proceedings. PART 1 ed. Springer Verlag. 2007. p. 994-1001. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 1). doi: 10.1007/978-3-540-75757-3_120

Sugita, Naohiko ; Nakajima, Yoshikazu ; Mitsuishi, Mamoru et al. / Cutting tool system to minimize soft tissue damage for robot-assisted minimally invasive orthopedic surgery. Medical Image Computing and Computer-Assisted Intervention - 10th International Conference, Proceedings. PART 1. ed. Springer Verlag, 2007. pp. 994-1001 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 1).

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Cutting tool system to minimize soft tissue damage for robot-assisted minimally invasive orthopedic surgery

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