Evidence map›Paper›PMID 37162733›Full record

ArticleInternational journal of computer assisted radiology and surgery2023

Platform for investigating continuum manipulator behavior in orthopedics.

Henry Phalen, Adnan Munawar, Amit Jain, Russell H Taylor, Mehran Armand

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In one paragraph

Article in International journal of computer assisted radiology and surgery, 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.

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0citing papers in PubMed
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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

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3 · Its place in the literature

Who cites it

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No citing paper in PubMed yet.

4 · The record

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5 · Who and what money

Authors and funding

5 authors.

Henry PhalenLaboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA. henry.phalen@jhu.edu.ORCID http://orcid.org/0000-0002-6854-6582
Adnan MunawarLaboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA.
Amit JainLaboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA.
Russell H TaylorLaboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA.
Mehran ArmandLaboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA.

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
Robotic System for Spinal Decompression and Interbody FusionR01AR080315 · NIAMS · UNIVERSITY OF ARKANSAS AT FAYETTEVILLE · PI ARMAND, MEHRAN, JAIN, AMIT · 2022 to 2025
$1.7M
Robot-Assisted Femoroplasty with Intraoperative Biomechanical FeedbackR01EB023939 · NIBIB · JOHNS HOPKINS UNIVERSITY · PI ARMAND, MEHRAN · 2017 to 2020
$1.6M
Computer-Assisted Orthopaedic Surgery with Intra-Operative Biomechanical GuidanceR01EB006839 · NIBIB · JOHNS HOPKINS UNIVERSITY · PI ARMAND, MEHRAN · 2007 to 2010
$1.5M
NIAMS NIH HHS R01 AR080315NIBIB NIH HHS R01AR080315NIBIB NIH HHS R01 EB006839NIBIB NIH HHS R01 EB016703NIBIB NIH HHS R01EB016703NIBIB NIH HHS R01 EB023939
6 · The paper itself

Abstract

purposeThe use of robotic continuum manipulators has been proposed to facilitate less-invasive orthopedic surgical procedures. While tools and strategies have been developed, critical challenges such as system control and intra-operative guidance are under-addressed. Simulation tools can help solve these challenges, but several gaps limit their utility for orthopedic surgical systems, particularly those with continuum manipulators. Herein, a simulation platform which addresses these gaps is presented as a tool to better understand and solve challenges for minimally invasive orthopedic procedures.

methodsAn open-source surgical simulation software package was developed in which a continuum manipulator can interact with any volume model such as to drill bone volumes segmented from a 3D computed tomography (CT) image. Paired simulated X-ray images of the scene can also be generated. As compared to previous works, tool-anatomy interactions use a physics-based approach which leads to more stable behavior and wider procedure applicability. A new method for representing low-level volumetric drilling behavior is also introduced to capture material variability within bone as well as patient-specific properties from a CT.

resultsSimilar interaction between a continuum manipulator and phantom bone was also demonstrated between a simulated manipulator and volumetric obstacle models. High-level material- and tool-driven behavior was shown to emerge directly from the improved low-level interactions, rather than by need of manual programming.

conclusionThis platform is a promising tool for developing and investigating control algorithms for tasks such as curved drilling. The generation of simulated X-ray images that correspond to the scene is useful for developing and validating image guidance models. The improvements to volumetric drilling offer users the ability to better tune behavior for specific tools and procedures and enable research to improve surgical simulation model fidelity. This platform will be used to develop and test control algorithms for image-guided curved drilling procedures in the femur.

Indexed as

Orthopedic ProceduresOrthopedicsRoboticsAlgorithmsComputer SimulationHumansContinuum manipulatorOrthopedicsSimulation

Identifiers

PMID37162733
PMCPMC10986430

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Registered trials

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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.