Paper Info
Title
Surgical Manipulator With Linkage Mechanism For Anterior Cruciate Ligament Reconstruction
Abstract
This paper describes a surgical manipulator designed with regard to its safety and sterilization in medical setting of anterior cruciate ligament (ACL) reconstruction. The manipulator system consists of two five-bar linkage mechanisms, an optical tracking device, and a user interface of surgical navigation. We designed and fabricated a prototype manipulator and evaluated the performance of the system by a set of experiments. The accuracy evaluation showed that the average backlash of the 4 link axes was 4.14 degrees and the accuracy of the pitch and yaw angle of the K-wire are 1.55 degrees +/- 2.74 degrees and -2.48 degrees +/- 2.92 degrees. This system enables intrinsic safety and ease of sterilization due to limitations in the range of movement. Furthermore, the system achieves reliabitity because of the simplicity of both its mechanism and its user interface. The manipulator has the potential to be used in minimally invasive ACL reconstruction surgery, although further improvements and experiments remain to be carried out.
Year
DOI
Venue
2007
10.1109/IROS.2007.4399548
2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9
Keywords
Field
DocType
surgery,user interface,user interfaces,sterilization
Computer vision,Backlash,Intrinsic safety,Simulation,Computer science,Anterior cruciate ligament reconstruction,Surgical manipulator,Euler angles,Optical tracking,Anterior cruciate ligament,Artificial intelligence,User interface
Conference
Citations 
PageRank 
References 
1
0.43
1
Authors
6
Name
Order
Citations
PageRank
Hongen Liao139070.91
Kazuhisa Yoshimura210.43
Tomoki Utsugida310.43
Kiyoshi Matsumiya4266.28
Ken Masamune525348.57
Takeyoshi Dohi649697.71