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Published on: January 6, 2023
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A robotized handheld smart tool for orthopedic surgery.
Shuo-Suei Hung1,2, Alex Shao-Feng Hsu3, Tsung-Han Ho3
1Department of Orthopedics, Taipei Tzu Chi Hospital, Buddhist Tzu Chi Medical Foundation, New Taipei City, Taiwan.
Summary
This study presents a compact handheld orthopedic robot that enhances surgical precision by suppressing tremors and reducing unwanted force feedback. The robot improves surgeon control during bone drilling procedures.
Area of Science:
- Robotics
- Orthopedic Surgery
- Surgical Technology
Background:
- Handheld surgical robots enhance surgeon precision through features like active guidance and tremor suppression.
- Orthopedic surgery demands robots with rigidity and power for bone machining.
- Robot design, control, and human interaction significantly impact handheld orthopedic robot performance.
Purpose of the Study:
- To develop a miniature, compact handheld robot for orthopedic surgery.
- To design a shared controller mitigating the interplay between hand motions, robot navigation, and force feedback.
- To improve usability, tremor suppression, and force reflection in orthopedic bone drilling.
Main Methods:
- A miniature and compact embedded robot design was proposed, matching handpiece weight.
- A shared controller was developed to manage coupled involuntary/voluntary hand motions, robot navigation, tool feedback forces, and actuation force artifacts.
Main Results:
- The handheld robot demonstrated effective stabilization of drill positioning.
- Involuntary tremors were successfully removed during pedicle tunneling experiments on a porcine spine.
- Force artifacts from motor actuation were reduced in experimental settings.
Conclusions:
- A compact handheld orthopedic robot with high performance was successfully developed.
- The robot offers significant improvements in usability, tremor suppression, and force reflection for bone drilling applications.
- This technology enhances surgeon capabilities in orthopedic interventions.
