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Design and kinematic characterization of a surgical manipulator with a focus on treating osteolysis

Published online by Cambridge University Press:  03 December 2013

Ryan J. Murphy ,
Michael D. M. Kutzer ,
Sean M. Segreti ,
Blake C. Lucas  and
Mehran Armand
Ryan J. Murphy*
Affiliation:
Research and Engineering Development Department, Johns Hopkins University Applied Physics Laboratory, Laurel, MD 20723, USA Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21287, USA
Michael D. M. Kutzer
Affiliation:
Research and Engineering Development Department, Johns Hopkins University Applied Physics Laboratory, Laurel, MD 20723, USA
Sean M. Segreti
Affiliation:
Department of Electrical Engineering, University of Maryland, College Park, MD 20742, USA
Blake C. Lucas
Affiliation:
Intel Corporation, Santa Clara, CA 95054, USA
Mehran Armand
Affiliation:
Research and Engineering Development Department, Johns Hopkins University Applied Physics Laboratory, Laurel, MD 20723, USA Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21287, USA
*
*Corresponding author. E-mail: Ryan.Murphy@jhuapl.edu
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Summary

This paper presents a cable-driven dexterous manipulator with a large, open lumen. One specific application for the manipulator is the treatment of the degeneration of bone tissue (osteolysis) during a less-invasive hip revision surgery. Rigid tools used in traditional approaches limit the surgeons' ability to comprehensively treat the osteolysis due to the complex geometries of the lesion. The surgical scenario, testing, kinematic modeling, and image-based inverse kinematics are described. Testing shows 94% coverage of a lesion wall; the kinematic model describes manipulator notch positions within 0.15 mm, while the image-based inverse kinematics has 0.36 mm error. This manipulator is potentially useful in treating osteolytic lesions through (1) effective lesion exploration compared to conventional techniques, and (2) rapidly performing inverse kinematics from visual feedback.

Keywords

Dexterous manipulationMedical robotsUnderactuated robotsKinematicsPose estimationRegistration

Information

Type
Articles
Information
Robotica , Volume 32 , Issue 6 , September 2014 , pp. 835 - 850
Copyright
Copyright © Johns Hopkins University Applied Physics Laboratory LLC 2013, published by Cambridge University Press 

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