TY - GEN
T1 - Cutting tool system to minimize soft tissue damage for robot-assisted minimally invasive orthopedic surgery
AU - Sugita, Naohiko
AU - Nakajima, Yoshikazu
AU - Mitsuishi, Mamoru
AU - Kawata, Shosaku
AU - Fujiwara, Kazuo
AU - Abe, Nobuhiro
AU - Ozaki, Toshifumi
AU - Suzuki, Masahiko
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
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U2 - 10.1007/978-3-540-75757-3_120
DO - 10.1007/978-3-540-75757-3_120
M3 - Conference contribution
C2 - 18051155
AN - SCOPUS:84883844458
SN - 9783540757566
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 994
EP - 1001
BT - Medical Image Computing and Computer-Assisted Intervention - 10th International Conference, Proceedings
PB - Springer Verlag
T2 - 10th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2007
Y2 - 29 October 2007 through 2 November 2007
ER -