An Active Steering Hand-held Robotic System for Minimally Invasive Orthopaedic Surgery Using a Continuum Manipulator.

ABSTRACT: This paper presents the development and experimental evaluation of an active steering hand-held robotic system for milling and curved drilling in minimally invasive orthopaedic interventions. The system comprises a cable-driven continuum dexterous manipulator (CDM), an actuation unit with a handpiece, and a flexible, rotary cutting tool. Compared to conventional rigid drills, the proposed system enhances dexterity and reach in confined spaces in surgery, while providing direct control to the surgeon with sufficient stability while cutting/milling hard tissue. Of note, for cases that require precise motion, the system is able to be mounted on a positioning robot for additional controllability. A proportional-derivative (PD) controller for regulating drive cable tension is proposed for the s

SUBMITTER: Ma JH 

PROVIDER: S-EPMC8052093 | biostudies-literature | 2021 Apr

REPOSITORIES: biostudies-literature