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A Surgical Robotic System for Osteoporotic Hip Augmentation: System Development and Experimental Evaluation
Mahsan Bakhtiarinejad1, Cong Gao2, Amirhossein Farvardin1
1Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD 21218, USA; Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21218, USA.
IEEE Transactions on Medical Robotics and Bionics
|May 22, 2023
Summary
A novel robotic system enhances minimally-invasive Osteoporotic Hip Augmentation (OHA) by optimizing bone cement injection. This Robot-Assisted combined Drilling and Injection System (RADIS) shows promising accuracy in cadaveric studies.
Area of Science:
- Biomedical Engineering
- Orthopedic Surgery
- Robotics
Background:
- Osteoporotic Hip Augmentation (OHA) is a minimally-invasive procedure using bone cement to reduce hip fracture risk.
- Computer-assisted planning and execution systems can optimize cement injection patterns for OHA.
- Current systems may lack precision or require external fiducials for registration.
Purpose of the Study:
- To present a novel robotic system for computer-assisted Osteoporotic Hip Augmentation (OHA).
- To evaluate the system's performance in planning and executing cement injections with fiducial-less 2D/3D registration.
- To demonstrate the feasibility of the Robot-Assisted combined Drilling and Injection System (RADIS) in cadaveric models.
Main Methods:
- Development of a 6-DOF robotic arm with integrated drilling and injection capabilities.
- Implementation of multiview image-based 2D/3D registration for intraoperative guidance without external fiducials.
- System evaluation using sawbone and cadaveric experiments with intact soft tissues.
Main Results:
- Cadaver experiments yielded entry and target point distance errors of 3.28mm and 2.64mm, respectively.
- An orientation error of 2.30° was calculated in cadaveric trials.
- Mean surface distance and translational errors between planned and injected cement profiles were 2.13mm and 4.47mm, respectively.
Conclusions:
- The developed Robot-Assisted combined Drilling and Injection System (RADIS) is the first to integrate biomechanical planning and fiducial-less 2D/3D registration for OHA.
- The system demonstrated accurate performance in cadaveric experiments with intact soft tissues.
- This robotic approach shows potential for improving the precision and outcomes of Osteoporotic Hip Augmentation.
