Mini Bone-Attached Robot for Joint Arthroplasty

用于关节置换术的微型接骨机器人

• 批准号: 7117290
• 负责人: BRANISLAV JARAMAZ
• 金额: $ 14.07万
• 依托单位: WESTERN PENNSYLVANIA HOSPITAL
• 依托单位国家: 美国
• 财政年份: 2005
• 资助国家: 美国
• 起止时间: 2005-09-01 至 2007-12-30
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/7117290
• 关键词: arthroplasty; artificial intelligence; bioengineering /biomedical engineering; bioimaging /biomedical imaging; biomedical equipment development; clinical biomedical equipment; computer assisted patient care; computer simulation; computer system design /evaluation; femur; hip prosthesis; image guided surgery /therapy; joint prosthesis; knee; medical implant science; miniature biomedical equipment; phantom model; postmortem; robotics

DESCRIPTION (provided by applicant): Medical robotics has the potential to revolutionize how surgical procedures on bony anatomy are performed. It can assist surgeons by preparing bones much more accurately than mechanical guides or freehand cutting. It can help improve patient outcomes by decreasing surgical errors. In the orthopaedics community, though, medical robots have not been very successful due to a variety of issues ranging from robot size, to surgical time, and soft-tissue difficulties. We propose to overcome these difficulties by utilizing a miniature robotic milling device that attaches directly to the bone. Realizing the potential of minimally invasive procedures, the implant industry is currently in the process of redesigning implants and, together with surgeons, reexamining surgical procedures. It can be expected that the next generation of implants will be smaller and more suitable for eventual development of less invasive procedures. One example of such procedures in knee arthroplasty is patellofemoral resurfacing of the knee. Without lose of generality we will examine the capability of the robot in improving the accuracy of the femoral-component preparation for patellofemoral arthroscopy. From engineering point of this procedure simulates the future generation of orthopaedic arthroplasty where there will be a need to machine bone surface into a more complex shape that is not planar or spherical but complex surfaces. Therefore, the technology demonstrated by this research, though, will not be specific to the patellofemoral procedure, and will be adaptable to many other areas. We propose to develop a miniature robot that will be rigidly affixed directly to the bone. The robot itself will scan the shape of the femur directly, removing any need for preoperative imaging or intraoperative registration and tracking of the bone. With the additional input of the direction of patellar tracking, we will automatically optimize the planned position of the implant to ensure that it is properly aligned and congruent with the surrounding healthy cartilage. Congruency is a requirement for this procedure to make certain that the patellar component does not impinge on the edge of the femoral component and lead to early failure of the implant. The robot will then mill out the cavity to within 1mm of the planned location, guaranteeing complete coverage of the area with a defined surface uniformity. By validating the results generated with the proposed robot, first on wax blocks and then plastic bone phantoms, porcine bones, and finally on cadaver knees, we will show that the robot can deliver the accuracy required to precisely place the implant. This precise placement of the femoral component should reduce the possibility of impingement, patellar maltracking, and component loosening, and improve patient outcomes.

描述（由申请人提供）： 医学机器人技术有可能彻底改变骨解剖学上的外科手术程序。与机械指南或徒手切割相比，它可以通过更准确地准备骨骼来帮助外科医生。它可以通过减少手术错误来帮助改善患者的预后。但是，在骨科社区中，由于从机器人大小到手术时间到软组织困难等各种问题，医疗机器人并不是很成功。我们建议通过使用直接附着在骨骼上的微型机器人铣削装置来克服这些困难。 植入物工业目前正在重新设计植入物，并与外科医生一起重新审查手术程序。可以预料，下一代植入物将更小，更适合最终开发较少的侵入性程序。膝关节置换术中此类过程的一个例子是膝盖的patelo股重铺。在不失去一般性的情况下，我们将检查机器人在提高股骨股骨术治疗股骨成分的准确性方面的能力。从该过程的工程点开始，模拟了未来的骨科关节置换术，其中需要将骨表面置于更复杂的形状，而不是平面或球形，而是复杂的表面。因此，这项研究所证明的技术并不是针对patelo股的程序，并且会适用于许多其他领域。 我们建议开发一个微型机器人，该机器人将直接固定在骨骼上。机器人本身将直接扫描股骨的形状，从而消除对术前成像或术中术中的任何需要以及骨骼跟踪的需求。随着pa骨跟踪方向的额外输入，我们将自动优化植入物的计划位置，以确保其正确对齐并与周围的健康软骨保持一致。一致性是该程序必须确保pa骨组件不会撞击股骨成分边缘并导致植入物的早期失败。然后，机器人将将腔体磨成计划位置的1mm之内，并保证具有定义的表面均匀性的区域覆盖。 通过验证提出的机器人产生的结果，首先是在蜡块上，然后在塑料骨幻象上，猪骨头，最后是在尸体膝盖上，我们将证明机器人可以提供精确地放置植入物所需的准确性。股骨成分的精确放置应减少撞击，pat骨撞车和零件松动的可能性，并改善患者的预后。

项目成果

HyBAR: hybrid bone-attached robot for joint arthroplasty.

HyBAR：用于关节置换术的混合骨附着机器人。

• DOI: 10.1002/rcs.254
• 发表时间: 2009
• 期刊: The international journal of medical robotics + computer assisted surgery : MRCAS
• 作者: Song,S;Mor,A;Jaramaz,B
• 通讯作者: Jaramaz,B