TY - GEN
T1 - Control of fracture reduction robot using force/torque measurement
AU - Douke, T.
AU - Nakajima, Y.
AU - Mori, Y.
AU - Onogi, S.
AU - Sugita, N.
AU - Mitsuishi, M.
AU - Bessho, M.
AU - Ohhashi, S.
AU - Tobita, K.
AU - Ohnishi, I.
AU - Sakuma, I.
AU - Dohi, T.
AU - Maeda, Y.
AU - Koyama, T.
AU - Sugano, N.
AU - Yonenobu, K.
AU - Matsumoto, Y.
AU - Nakamura, K.
PY - 2008
Y1 - 2008
N2 - We have developed a surgical robotic system for femoral fracture reduction employing indirect traction. Indirect traction in fracture reduction is a generally used surgical method for preventing complications such as bone splits caused by high stress on bones. For traction, a patient's foot is gripped by a jig and pulled to the distal side. Indirect traction has the advantage of distributing bone stress by utilizing a strong traction force; however, this procedure does not accurately control the proper positioning of fractured fragments when a surgical robot is used. The human leg has knee and an ankle joints, and thus robotic motion presents problems in not being able to directly propagate reduction motion to a fractured femoral fragment, rendering control of bone position difficult. We propose a control method for fracture reduction robots using external force/torque measurements of the human leg to achieve precise fracture reduction. Results showed that the proposed method reduced repositioning error from 6.8 mm and 15.9 degrees to 0.7 mm and 5.3 degrees, respectively.
AB - We have developed a surgical robotic system for femoral fracture reduction employing indirect traction. Indirect traction in fracture reduction is a generally used surgical method for preventing complications such as bone splits caused by high stress on bones. For traction, a patient's foot is gripped by a jig and pulled to the distal side. Indirect traction has the advantage of distributing bone stress by utilizing a strong traction force; however, this procedure does not accurately control the proper positioning of fractured fragments when a surgical robot is used. The human leg has knee and an ankle joints, and thus robotic motion presents problems in not being able to directly propagate reduction motion to a fractured femoral fragment, rendering control of bone position difficult. We propose a control method for fracture reduction robots using external force/torque measurements of the human leg to achieve precise fracture reduction. Results showed that the proposed method reduced repositioning error from 6.8 mm and 15.9 degrees to 0.7 mm and 5.3 degrees, respectively.
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U2 - 10.1109/iembs.2008.4649901
DO - 10.1109/iembs.2008.4649901
M3 - Conference contribution
C2 - 19163404
AN - SCOPUS:61849083716
SN - 9781424418152
T3 - Proceedings of the 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'08 - "Personalized Healthcare through Technology"
SP - 3265
EP - 3268
BT - Proceedings of the 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'08
PB - IEEE Computer Society
T2 - 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'08
Y2 - 20 August 2008 through 25 August 2008
ER -