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Introducing haptic capabilities to a bone-mounted robot for intra-operative surface scanning.
1BRML Biorobotics and Biomechanics Laboratory, Department of Mechanical Engineering, Technion-Israel Institute of Technology, Haifa, Israel. yoelsh@tx.technion.ac.il
Summary
Bone-mounted robots in orthopaedic surgery can improve accuracy by creating intraoperative anatomical models. Haptic surface acquisition achieved an average error of 0.3 mm, enhancing surgical precision.
Area of Science:
- Robotics in Orthopaedic Surgery
- Surgical Navigation Systems
- Medical Imaging and Modeling
Background:
- Bone-mounted robots offer cost-effective, minimally invasive solutions for orthopaedic surgery.
- Preoperative planning using imaging (X-ray, CT, MRI) and registration introduces errors.
- Intraoperative model generation in the robot's coordinate system can enhance accuracy.
Purpose of the Study:
- To evaluate the accuracy of a 3D physical scan using a bone-mounted robot system.
- To explore haptic capabilities for improved intraoperative modeling.
- To assess the potential for non-linear haptic control in surgical robots.
Main Methods:
- Haptic capabilities were integrated into the Miniaturized Bone-mounted Autonomous Robotic System (MBARS).
- User tests were performed to design the haptic control loop.
- A 3D physical scan accuracy was tested on a cadaveric femur model.
Main Results:
- An average distance error of 0.3 mm was achieved for points collected from the scanned surface.
- Conditions for force scaling and mode switching were identified during haptic control testing.
- The study demonstrated the feasibility of haptic surface acquisition for model generation.
Conclusions:
- Non-linear and potentially non-transparent haptic control is recommended for bone-mounted robots.
- Haptic surface acquisition enables the creation of accurate intraoperative anatomical models.
- This approach can improve the precision of bone-mounted robotic systems in orthopaedic surgery.
