Evidence map›Paper›PMID 34025108›Full record

ArticleIEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division2021

A Surgical Robotic System for Treatment of Pelvic Osteolysis Using an FBG-Equipped Continuum Manipulator and Flexible Instruments.

Shahriar Sefati, Rachel Hegeman, Farshid Alambeigi, Iulian Iordachita, Peter Kazanzides, Harpal Khanuja, Russell H Taylor, Mehran Armand

Open access · greenAbstract read
PubMed Full text at PMC Publisher
In one paragraph

Article in IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 10 papers.

0numbers the graph read from it
0cells of the map it votes in
10citing papers in PubMed
3.1field-weighted citation impact, top 8% of its field
1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

10 citing papers in PubMed, 64 citations in OpenAlex.

  1. Article
  2. Article
  3. Article
  4. Article
  5. Article
  6. Article
  7. A Dexterous Robotic System for Autonomous Debridement of Osteolytic Bone Lesions in Confined Spaces: Human Cadaver Studies.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2022
    Article
  8. Review
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4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

8 authors at 1 institution in 1 country.

Shahriar SefatiLaboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA, 21218.
Rachel HegemanLaboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA, 21218; Johns Hopkins University Applied Physics Laboratory, Laurel, MD, USA.
Farshid AlambeigiJohns Hopkins University during the completion of this work and he is currently with the Department of Mechanical Engineering, University of Texas at Austin, Austin, TX, USA, 78712.
Iulian IordachitaLaboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA, 21218.
Peter KazanzidesLaboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA, 21218.
Harpal KhanujaDepartment of Orthopedic Surgery, The Johns Hopkins Medical School, Baltimore, MD, USA, 21205.
Russell H TaylorLaboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA, 21218.
Mehran ArmandLaboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA, 21218; Johns Hopkins University Applied Physics Laboratory, Laurel, MD, USA; Department of Orthopedic Surgery, The Johns Hopkins Medical School, Baltimore, MD, USA, 21205.
Johns Hopkins University · US

Funding

Image-Guided Workstation and Tools for the Treatment of Bone DefectsR01EB016703 · NIBIB · UNIVERSITY OF ARKANSAS AT FAYETTEVILLE · PI ARMAND, MEHRAN · 2013 to 2022
$3.4M
NIBIB NIH HHS R01 EB016703
6 · The paper itself

Abstract

This paper presents the development and experimental evaluation of a redundant robotic system for the less-invasive treatment of osteolysis (bone degradation) behind the acetabular implant during total hip replacement revision surgery. The system comprises a rigid-link positioning robot and a Continuum Dexterous Manipulator (CDM) equipped with highly flexible debriding tools and a Fiber Bragg Grating (FBG)-based sensor. The robot and the continuum manipulator are controlled concurrently via an optimization-based framework using the Tip Position Estimation (TPE) from the FBG sensor as feedback. Performance of the system is evaluated on a setup that consists of an acetabular cup and saw-bone phantom simulating the bone behind the cup. Experiments consist of performing the surgical procedure on the simulated phantom setup. CDM TPE using FBGs, target location placement, cutting performance, and the concurrent control algorithm capability in achieving the desired tasks are evaluated. Mean and standard deviation of the CDM TPE from the FBG sensor and the robotic system are 0.50 mm, and 0.18 mm, respectively. Using the developed surgical system, accurate positioning and successful cutting of desired straight-line and curvilinear paths on saw-bone phantoms behind the cup with different densities are demonstrated. Compared to the conventional rigid tools, the workspace reach behind the acetabular cup is 2.47 times greater when using the developed robotic system.

Indexed as

Continuum ManipulatorFiber Bragg GratingMinimally-Invasive SurgeryOrthopedic Surgery

Identifiers

PMID34025108
PMCPMC8132934
OpenAlexW3081954207

What OpenQuestion holds

Textmetadata
LicenceTDM
Read underepoch 390

Registered trials

None linked

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.