ArticleIEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society2022
A Dexterous Robotic System for Autonomous Debridement of Osteolytic Bone Lesions in Confined Spaces: Human Cadaver Studies.
Article in IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 6 papers.
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Who cites it
6 citing papers in PubMed, 43 citations in OpenAlex.
- Critical Anatomy-Preserving & Terrain-Augmenting Navigation (CAPTAiN): Application to Laminectomy Surgical Education.IEEE transactions on medical robotics and bionics · 2025Article
- Precision excision of mandibular anterior compound odontoma using autonomous robotic guidance: a clinical case report.Frontiers in oral health · 2025Article
- A Biomechanics-Aware Robot-Assisted Steerable Drilling Framework for Minimally Invasive Spinal Fixation Procedures.IEEE transactions on bio-medical engineering · 2024Article
- Platform for investigating continuum manipulator behavior in orthopedics.International journal of computer assisted radiology and surgery · 2023Article
- Design and Fabrication of a Fiber Bragg Grating Shape Sensor for Shape Reconstruction of a Continuum Manipulator.IEEE sensors journal · 2023Article
- Data-driven Shape Sensing of Continuum Dexterous Manipulators Using Embedded Capacitive Sensor.Proceedings of IEEE Sensors. IEEE International Conference on Sensors · 2023Article
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Authors and funding
5 authors at 1 institution in 1 country.
Funding
Abstract
This article presents a dexterous robotic system for autonomous debridement of osteolytic bone lesions in confined spaces. The proposed system is distinguished from the state-of-the-art orthopedics systems because it combines a rigid-link robot with a continuum manipulator (CM) that enhances reach in difficult-to-access spaces often encountered in surgery. The CM is equipped with flexible debriding instruments and fiber Bragg grating sensors. The surgeon plans on the patient's preoperative computed tomography and the robotic system performs the task autonomously under the surgeon's supervision. An optimization-based controller generates control commands on the fly to execute the task while satisfying physical and safety constraints. The system design and controller are discussed and extensive simulation, phantom and human cadaver experiments are carried out to evaluate the performance, workspace, and dexterity in confined spaces. Mean and standard deviation of target placement are 0.5 and 0.18 mm, and the robotic system covers 91% of the workspace behind an acetabular implant in treatment of hip osteolysis, compared to the 54% that is achieved by conventional rigid tools.
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Registered trials
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