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A robotized handheld smart tool for orthopedic surgery.

Shuo-Suei Hung^1,2, Alex Shao-Feng Hsu³, Tsung-Han Ho³

¹Department of Orthopedics, Taipei Tzu Chi Hospital, Buddhist Tzu Chi Medical Foundation, New Taipei City, Taiwan.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS

|May 26, 2021

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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.

Keywords:

handheld robot orthopedic surgical robot pedicle screw fixation spine surgery

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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.