Orthognathic Surgical Robot With a Workspace Limitation Mechanism

被引：4
|
作者：
Hara, Kazuaki [1 ]
Ma, Qingchuan [1 ]
Suenaga, Hideyuki [2 ]
Kobayashi, Etsuko [3 ]
Sakuma, Ichiro [1 ]
Masamune, Ken [3 ]
机构：
[1] Univ Tokyo, Grad Sch Engn, Tokyo 1138654, Japan
[2] Univ Tokyo Hosp, Dept Oral Maxillofacial Surg & Orthodont, Tokyo 1138655, Japan
[3] Tokyo Womens Med Coll, Inst Adv BioMed Engn & Sci, Tokyo 1628666, Japan
来源：
IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2019年 / 24卷 / 06期
基金：
日本学术振兴会;
关键词：
Surgery; Gears; Medical robotics; Kinematics; Robot kinematics; Hardware; Medical robot; motion constraint; orthognathic surgery; osteotomy; surgical robot; workspace limitation; SIMULATION; SYSTEM;
D O I：
10.1109/TMECH.2019.2945605
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Impracticable workspaces and cumbersome hardware limit the practical application of the currently available orthognathic surgical robots in a clinical environment. In this study, a compact and lightweight six degree of freedom (DOF) robot with a workspace limitation mechanism (WLM) was developed, and this article reports on the technical specifications of the robot, as well as the details of the three experiments performed to validate it. This robot can be easily installed by a single individual and is able to mechanically protect important organs from unintended injury. The results show that this robot functionally limits the workspace travel of the osteotomy device by an average overshoot of 0.8 mm, with a drilling and cutting accuracy of 1 and 0.5 mm, respectively. This operational accuracy has the potential to be further improved, making this novel robot a potentially precise and safe medical equipment for orthognathic surgery.
引用
收藏
页码：2652 / 2660
页数：9
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