title: Control of the coupled motion of a 6 DoF robotic arm and a continuum manipulator for the treatment of pelvis osteolysis.
abstract: The paper addresses the coupled motion of a 6 degree of freedom robot and a snake-like dexterous manipulator (SDM) designed for the treatment of bone defects behind the implant during total hip arthroplasty revision surgery. We have formulated the problem as a weighted, multi-objective constraint, linear optimization. A remote center of motion (RCM) acts as a virtual constraint for the robot. The coupled robot kinematics does not assume piecewise-constant curvature for the SDM. We have evaluated our method by simulating the coupled system inside a potential lesion area.
authors.forename: Farshid
authors.initials: F
authors.lastname: Alambeigi
authors.forename: Ryan J
authors.initials: RJ
authors.lastname: Murphy
authors.forename: Ehsan
authors.initials: E
authors.lastname: Basafa
authors.forename: Russell H
authors.initials: RH
authors.lastname: Taylor
authors.forename: Mehran
authors.initials: M
authors.lastname: Armand
mesh_terms: D019644:Arthroplasty, Replacement, Hip / Q000295:instrumentation*; D001696:Biomechanical Phenomena; D004867:Equipment Design; D006622:Hip Prosthesis; D006801:Humans; D010014:Osteolysis / Q000601:surgery*; D065287:Robotic Surgical Procedures / Q000295:instrumentation*