TY - GEN
T1 - Design and characterization of a debriding tool in robot-assisted treatment of osteolysis
AU - Alambeigi, Farshid
AU - Sefati, Shahriar
AU - Murphy, Ryan J.
AU - Iordachita, Iulian
AU - Armand, Mehran
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/6/8
Y1 - 2016/6/8
N2 - This paper focuses on the design and quantitative characterization of a debriding tool integrated with a robotic system to treat osteolysis (bone degradation). Osteolysis typically occurs due to wear of the polyethylene liner of the acetabular implant after total hip replacement surgery. In less invasive treatment of osteolysis, surgeons conventionally use rigid tools to debride the lesion, however with these inflexible instruments, complex lesion shapes are not completely treatable (about 50%). To address this issue, we have developed a debriding tool that passes through the lumen of a continuum dexterous manipulator (CDM). Integration of the CDM with a robotic arm assists the surgeon to reach the desired region behind the implant. Performance of the debriding tool integrated with this system was quantitatively evaluated during a simulated robot-assisted lesion debriding scenario. Rotational speed, aspiration pressure and irrigation flow of the debriding tool, as well as the sweeping velocity of the robotic system were identified as effective parameters in this procedure. Results indicate that maximum efficiency of the tool is achievable in a particular combination of these parameters.
AB - This paper focuses on the design and quantitative characterization of a debriding tool integrated with a robotic system to treat osteolysis (bone degradation). Osteolysis typically occurs due to wear of the polyethylene liner of the acetabular implant after total hip replacement surgery. In less invasive treatment of osteolysis, surgeons conventionally use rigid tools to debride the lesion, however with these inflexible instruments, complex lesion shapes are not completely treatable (about 50%). To address this issue, we have developed a debriding tool that passes through the lumen of a continuum dexterous manipulator (CDM). Integration of the CDM with a robotic arm assists the surgeon to reach the desired region behind the implant. Performance of the debriding tool integrated with this system was quantitatively evaluated during a simulated robot-assisted lesion debriding scenario. Rotational speed, aspiration pressure and irrigation flow of the debriding tool, as well as the sweeping velocity of the robotic system were identified as effective parameters in this procedure. Results indicate that maximum efficiency of the tool is achievable in a particular combination of these parameters.
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U2 - 10.1109/ICRA.2016.7487787
DO - 10.1109/ICRA.2016.7487787
M3 - Conference contribution
AN - SCOPUS:84977580529
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 5664
EP - 5669
BT - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
Y2 - 16 May 2016 through 21 May 2016
ER -