HyBAR: hybrid bone-attached robot for joint arthroplasty.
BACKGROUND
A number of small bone-attached surgical robots have been introduced to overcome some disadvantages of large stand-alone surgical robots. In orthopaedics, increasing demand on minimally invasive joint replacement surgery has also been encouraging small surgical robot developments. Among various technical aspects of such an approach, optimal miniaturization that maintains structural strength for high speed bone removal was investigated.


METHODS
By observing advantages and disadvantages from serial and parallel robot structures, a new hybrid kinematic configuration was designed for a bone-attached robot to perform precision bone removal for cutting the femoral implant cavity during patellofemoral joint arthroplasty surgery. A series of experimental tests were conducted in order to evaluate the performance of the new robot, especially with respect to accuracy of bone preparation.


RESULTS
A miniaturized and rigidly-structured robot prototype was developed for minimally invasive bone-attached robotic surgery. A new minimally invasive modular clamping system was also introduced to enhance the robotic procedure. Foam and pig bone experimental results demonstrated a successful implementation of the new robot that eliminated a number of major design problems of a previous prototype.


CONCLUSIONS
For small bone-attached surgical robots that utilize high speed orthopaedic tools, structural rigidity and clamping mechanism are major design issues. The new kinematic configuration using hinged prismatic joints enabled an effective miniaturization with good structural rigidity. Although minor problems still exist at the prototype stage, the new development would be a significant step towards the practical use of such a robot.
Institute for Computer Assisted Orthopaedic Surgery, Western Pennsylvania Hospital, Pittsburgh, PA, USA. sam0song@gmail.com
S
S
Song
A
A
Mor
B
B
Jaramaz
D000818:Animals; D019643:Arthroplasty, Replacement / Q000295:instrumentation*; D001696:Biomechanical Phenomena; D017076:Computer-Aided Design; D005269:Femur / Q000033:anatomy & histology / Q000601:surgery; D006801:Humans; D066298:In Vitro Techniques; D019060:Minimally Invasive Surgical Procedures / Q000295:instrumentation*; D008953:Models, Anatomic; D012371:Robotics / Q000295:instrumentation*; D025321:Surgery, Computer-Assisted / Q000295:instrumentation*; D013552:Swine