title: Control of fracture reduction robot using force/torque measurement.
abstract: 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.
authors.affiliation: The University of Tokyo, Japan.
authors.forename: T
authors.initials: T
authors.lastname: Douke
authors.forename: Y
authors.initials: Y
authors.lastname: Nakajima
authors.forename: Y
authors.initials: Y
authors.lastname: Mori
authors.forename: S
authors.initials: S
authors.lastname: Onogi
authors.forename: N
authors.initials: N
authors.lastname: Sugita
authors.forename: M
authors.initials: M
authors.lastname: Mitsuishi
authors.forename: M
authors.initials: M
authors.lastname: Bessho
authors.forename: S
authors.initials: S
authors.lastname: Ohhashi
authors.forename: K
authors.initials: K
authors.lastname: Tobita
authors.forename: I
authors.initials: I
authors.lastname: Ohnishi
authors.forename: I
authors.initials: I
authors.lastname: Sakuma
authors.forename: T
authors.initials: T
authors.lastname: Dohi
authors.forename: Y
authors.initials: Y
authors.lastname: Maeda
authors.forename: T
authors.initials: T
authors.lastname: Koyama
authors.forename: N
authors.initials: N
authors.lastname: Sugano
authors.forename: K
authors.initials: K
authors.lastname: Yonenobu
authors.forename: Y
authors.initials: Y
authors.lastname: Matsumoto
authors.forename: K
authors.initials: K
authors.lastname: Nakamura
mesh_terms: D001696:Biomechanical Phenomena; D004867:Equipment Design; D005264:Femoral Fractures / Q000601:surgery; D005269:Femur / Q000473:pathology*; D006801:Humans; D009132:Muscles / Q000473:pathology; D019047:Phantoms, Imaging; D012371:Robotics; D012984:Software; D013314:Stress, Mechanical; D025321:Surgery, Computer-Assisted / Q000295:instrumentation*; D019415:Torque; D014143:Traction