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- W2185229710 abstract "Manyoftherobots developed sofar, including our multi-axis bonecutting robot, useanendmillasthecutting tool, andsomeproblems should besolved toapplythemto theminimally invasive orthopedic surgery. Minimally invasive surgery makestheincisions smaller, reduces painandtrauma tothebody, andenables faster recovery. Thesmaller incision meansasmall andnarrowopening area. Thismeanstherobot attitude fortheboneresection isrestricted, anditcanresult inthecollision ofthetoolwiththesurrounding tissue, the existence ofanuntouched areaandthedegradation ofthejoint position accuracy. Thispaperproposes arobot mechanism and atoolpath generation technique specialized forbonecutting is expected toresolve these issues. I.INTRODUCTION A.Background Inthesurgical procedure ofjoint replacement, theset- ting position oftheartificial joint affects theinferior limb direction after theoperation. Therefore, postoperative pain, reduction intheuseful lifespan oftheartificial joint, and organization necrosis duetoabrasive wearparticles shed bythebone-joint systemwilloccuriftheartificial joint isnotproperly fixed. Theaccuracy ofthecutsurface conventionally depends onthesurgeon's skill, because the boneisshaped byhand. Therefore, theuseofabone-cutting robot isexpected toincrease thequality ofthesurgery, and manyrobots havebeendeveloped worldwide. Meanwhile, thenumberofsurgical procedures withmin- imally invasive technique hasbeenincreased alsoinor- thopedic field. Theminimally invasive surgical approach utilizes small incisions andoffers several advantages over traditional opensurgery asreduced painandtraumatothe body, faster recovery andshorter hospital stay. Newwaysto openthekneemaybemoreimportant thanthelength ofthe incision. However, thedifficulty oftheprocedure increases withthesmaller incisions, andtheresult oftheoperation depends onthesurgeon's skill. Therefore, itishopedthat a mechanical orrobotic assisted surgery system isintroduced intheprocedure. Manyofdeveloped robots sofarincluding ourmulti-axis bonecutting robot usesanendmillasacutting tool, and thefollowing problems should besolved toapply themto theminimally invasive orthopedic surgery. Theminimally invasive surgery makestheincisions smaller, reduces pain andtraumatothebodyandhelps faster recovery. The smaller incision meansthesmall andnarrowopening area. Thisresults that therobot attitude fortheboneresection is restricted, anditcanresult inthecollision oftool withthe surrounding tissue, theexistence ofuntouched areaandthe degradation ofjoint position accuracy. Toolpath generation technique specialized forthebonecutting isexpected to resolve these issues. Alsothecollision ofthecutting edgewiththesoft tissue should betaken into account asaproblem ofinvasiveness. Theendmillisarotational tool, andalltheangles around theshaft function asacutter. Therefore, itislikely todamage thesurrounding soft tissues, vessels, nerves. Theprotection mechanism tocovertheunworking partofthecutting edge will berequired andavoid thedamage. Thenecrosis ofbone cell caused bythecutting heat orthetool friction heatshould beprevented bycooling thecutting edge. Inthispaper, arobotmechanism anda toolpath gen- eration methodisproposed tominimize thedamageof thesurrounding tissues intherobotic assisted minimally invasive orthopedic surgery. Withthemethod, cutting tool canapproach theresection areathrough anarrowopening area, proceed themachining ofthebonewithout anydamage andaccomplish theprocedure." @default.
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- W2185229710 date "2007-01-01" @default.
- W2185229710 modified "2023-09-24" @default.
- W2185229710 title "BoneCutting RobotwithSoftTissue Collision Avoidance Capability bya Redundant AxisforMinimally Invasive Orthopedic Surgery" @default.
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