ArticleIEEE robotics and automation letters2021
An Active Steering Hand-held Robotic System for Minimally Invasive Orthopaedic Surgery Using a Continuum Manipulator.
Article in IEEE robotics and automation letters, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 10 papers.
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Who cites it
10 citing papers in PubMed, 46 citations in OpenAlex.
- Shape Sensing of Continuum Manipulators with Fiber Bragg Grating Sensor Arrays: Accounting for Actuator Velocity Effects.IEEE sensors journal · 2025Article
- A Biomechanics-Aware Robot-Assisted Steerable Drilling Framework for Minimally Invasive Spinal Fixation Procedures.IEEE transactions on bio-medical engineering · 2024Article
- Enhancing the precision of continuum robots in orthopedic surgery based on mechanical principles.Frontiers in bioengineering and biotechnology · 2024Article
- A Concentric Tube Steerable Drilling Robot for Minimally Invasive Spinal Fixation of Osteoporotic Vertebrae.IEEE transactions on bio-medical engineering · 2023Article
- Design and Fabrication of a Fiber Bragg Grating Shape Sensor for Shape Reconstruction of a Continuum Manipulator.IEEE sensors journal · 2023Article
- Review of Enhanced Handheld Surgical Drills.Critical reviews in biomedical engineering · 2023Review
- Towards Reducing Visual Workload in Surgical Navigation: Proof-of-concept of an Augmented Reality Haptic Guidance System.Computer methods in biomechanics and biomedical engineering. Imaging & visualization · 2023Article
- Data-driven Shape Sensing of Continuum Dexterous Manipulators Using Embedded Capacitive Sensor.Proceedings of IEEE Sensors. IEEE International Conference on Sensors · 2023Article
- Tsetse fly inspired steerable bone drill-a proof of concept.Frontiers in bioengineering and biotechnology · 2023Article
- Beyond Constant Curvature: A New Mechanics Model for Unidirectional Notched-Tube Continuum Wrists.Journal of medical robotics researchArticle
Corrections and comments
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Authors and funding
4 authors at 1 institution in 1 country.
Funding
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 stable steering of the CDM during cutting operations. The robotic system is characterized and tested with various tool rotational speeds and cable tensions, demonstrating successful cutting of three-dimensional and curvilinear tool paths in simulated cancellous bone and bone phantom. Material removal rates (MRRs) of up to 571 mm
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.