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Published on: January 6, 2023
A novel passive/active hybrid robot for orthopaedic trauma surgery
Shaolong Kuang1, Kwok-sui Leung, Tianmiao Wang
1Robotics Institute, Beihang University, Beijing, P.R. China.
Summary
A new hybrid robot, the HybriDot, enhances orthopaedic trauma surgery by improving surgical tool accuracy and stability during drilling. This robot offers improved safety and flexibility for surgeons, overcoming limitations of current image-guided navigation systems.
Area of Science:
- Robotics in Medicine
- Orthopaedic Surgery
- Surgical Navigation
Background:
- Image-guided navigation systems (IGNS) aid orthopaedic trauma surgery but lack control over tool trajectory deviations.
- A need exists for enhanced methods to prevent surgical tool slippage and maintain planned trajectories during drilling.
Purpose of the Study:
- To introduce and analyze a novel passive/active hybrid robot, the HybriDot, for precise positioning and support of surgical tools in orthopaedic trauma surgery.
- To validate the robot's design through workspace, layout analysis, and experimental evaluation.
Main Methods:
- Development of the HybriDot robot, featuring a circular prismatic joint and five back-drivable joints.
- Analysis of system configuration, operational modes, workspace, and operating theatre layout.
- Feasibility experiments including trials on patients for distal locking of intramedullary nails.
Main Results:
- The HybriDot robot demonstrates an appropriate workspace with no collision risk in operating theatre environments.
- Back-drivable joints enhance surgeon safety and flexibility.
- Achieved positional accuracy of 0.811 mm (SD 0.361 mm) and orientation accuracy of 2.186º (SD 0.932º).
- Successful one-pass surgical trials for distal locking of intramedullary nails were completed.
Conclusions:
- The HybriDot robot offers an appropriate workspace and is designed for effective human-robot cooperation.
- The system provides high accuracy, rigidity, and ease of deployment for orthopaedic trauma surgery tasks.
- The robot is suitable for common procedures like screw fixation and drilling assistance.
