Publication
Robotic system navigation developed for hip resurfacing prosthesis surgery
| Summary: | This paper discusses the design of a navigation system developed to assist surgeons in the procedures of Hip Resurfacing prosthesis surgeries. In conventional surgery, mechanical jigs are used to obtain a correct alignment for the metal prosthesis, however it is a very time consuming process. In order to solve this problem emerges a new robotic system, named HipRob. The system is composed by a pre-operative sub-system for planning the prosthesis correct alignment and a flexible robot to be co-manipulated by the surgeon during the drilling procedures on the femur head. The real-time navigation of this robotic system is based on the registration between the femur model, constructed from the CT scan, and the surface constructed with ultrasound images, acquired during the surgical procedures. Experimental results, performed in a femur phantom, show that the robot location errors are around 2 mm. |
|---|---|
| Main Authors: | Torres, Pedro |
| Other Authors: | Gonçalves, Paulo; Martins, Jorge M.M. |
| Subject: | Hip resurfacing Medical robotics Surgical navigation Computer-assisted surgery |
| Year: | 2018 |
| Country: | Portugal |
| Document type: | book part |
| Access type: | restricted access |
| Associated institution: | Instituto Politécnico de Castelo Branco |
| Language: | English |
| Origin: | Repositório Científico do Instituto Politécnico de Castelo Branco |
| _version_ | 1865920430594850816 |
|---|---|
| author | Torres, Pedro |
| author2 | Gonçalves, Paulo Martins, Jorge M.M. |
| author2_role | author author |
| author_facet | Torres, Pedro Torres, Pedro Gonçalves, Paulo Martins, Jorge M.M. Gonçalves, Paulo Martins, Jorge M.M. |
| author_role | author |
| contributor_name_str_mv | Repositório Científico do Instituto Politécnico de Castelo Branco |
| country_str | PT |
| creators_json_str | [{\"Person.name\":\"Torres, Pedro\",\"Person.identifier.orcid\":\"0000-0003-4835-5022\"},{\"Person.name\":\"Gonçalves, Paulo\",\"Person.identifier.orcid\":\"0000-0002-8692-7338\"},{\"Person.name\":\"Martins, Jorge M.M.\"}] |
| datacite.contributors.contributor.contributorName.fl_str_mv | Repositório Científico do Instituto Politécnico de Castelo Branco |
| datacite.creators.creator.creatorName.fl_str_mv | Torres, Pedro Gonçalves, Paulo Martins, Jorge M.M. |
| datacite.date.Accepted.fl_str_mv | 2018-01-01T00:00:00Z |
| datacite.date.available.fl_str_mv | 2018-05-08T15:12:33Z |
| datacite.date.embargoed.fl_str_mv | 2018-05-08T15:12:33Z |
| datacite.rights.fl_str_mv | http://purl.org/coar/access_right/c_16ec |
| datacite.subjects.subject.fl_str_mv | Hip resurfacing Medical robotics Surgical navigation Computer-assisted surgery |
| datacite.titles.title.fl_str_mv | Robotic system navigation developed for hip resurfacing prosthesis surgery |
| dc.contributor.none.fl_str_mv | Repositório Científico do Instituto Politécnico de Castelo Branco |
| dc.creator.none.fl_str_mv | Torres, Pedro Gonçalves, Paulo Martins, Jorge M.M. |
| dc.date.Accepted.fl_str_mv | 2018-01-01T00:00:00Z |
| dc.date.available.fl_str_mv | 2018-05-08T15:12:33Z |
| dc.date.embargoed.fl_str_mv | 2018-05-08T15:12:33Z |
| dc.format.none.fl_str_mv | application/pdf |
| dc.identifier.none.fl_str_mv | http://hdl.handle.net/10400.11/6074 |
| dc.language.none.fl_str_mv | eng |
| dc.publisher.none.fl_str_mv | Springer |
| dc.rights.none.fl_str_mv | http://purl.org/coar/access_right/c_16ec |
| dc.subject.none.fl_str_mv | Hip resurfacing Medical robotics Surgical navigation Computer-assisted surgery |
| dc.title.fl_str_mv | Robotic system navigation developed for hip resurfacing prosthesis surgery |
| dc.type.none.fl_str_mv | http://purl.org/coar/resource_type/c_3248 |
| description | This paper discusses the design of a navigation system developed to assist surgeons in the procedures of Hip Resurfacing prosthesis surgeries. In conventional surgery, mechanical jigs are used to obtain a correct alignment for the metal prosthesis, however it is a very time consuming process. In order to solve this problem emerges a new robotic system, named HipRob. The system is composed by a pre-operative sub-system for planning the prosthesis correct alignment and a flexible robot to be co-manipulated by the surgeon during the drilling procedures on the femur head. The real-time navigation of this robotic system is based on the registration between the femur model, constructed from the CT scan, and the surface constructed with ultrasound images, acquired during the surgical procedures. Experimental results, performed in a femur phantom, show that the robot location errors are around 2 mm. |
| dirty | 0 |
| eu_rights_str_mv | restrictedAccess |
| format | bookPart |
| fulltext.url.fl_str_mv | https://repositorio.ipcb.pt/bitstreams/d5bec2e3-cb22-4a35-9218-de774543464d/download |
| funding.funder.alternateName_str_mv | EC |
| funding.funder.identifier_str_mv | http://doi.org/10.13039/501100008530 |
| funding.funder.name_str_mv | European Commission |
| funding.name_str_mv | FP7 |
| id | ripcb_18bdf8faa4f756eea8bc909f645fda8f |
| identifier.url.fl_str_mv | http://hdl.handle.net/10400.11/6074 |
| instacron_str | ipcb |
| institution | Instituto Politécnico de Castelo Branco |
| instname_str | Instituto Politécnico de Castelo Branco |
| language | eng |
| network_acronym_str | ripcb |
| network_name_str | Repositório Científico do Instituto Politécnico de Castelo Branco |
| oai_identifier_str | oai:repositorio.ipcb.pt:10400.11/6074 |
| organization_str_mv | urn:organizationAcronym:ipcb |
| person_str_mv | Torres, Pedro Torres, Pedro https://www.ciencia-id.pt/2711-E707-519C 2711-E707-519C http://orcid.org/0000-0003-4835-5022 0000-0003-4835-5022 Gonçalves, Paulo Gonçalves, Paulo https://www.ciencia-id.pt/2816-A2FA-C5A3 2816-A2FA-C5A3 http://orcid.org/0000-0002-8692-7338 0000-0002-8692-7338 Martins, Jorge M.M. |
| publishDate | 2018 |
| publisher.none.fl_str_mv | Springer |
| reponame_str | Repositório Científico do Instituto Politécnico de Castelo Branco |
| repository_id_str | urn:repositoryAcronym:ripcb |
| service_str_mv | urn:repositoryAcronym:ripcb |
| spelling | engSpringerpt_PTThis paper discusses the design of a navigation system developed to assist surgeons in the procedures of Hip Resurfacing prosthesis surgeries. In conventional surgery, mechanical jigs are used to obtain a correct alignment for the metal prosthesis, however it is a very time consuming process. In order to solve this problem emerges a new robotic system, named HipRob. The system is composed by a pre-operative sub-system for planning the prosthesis correct alignment and a flexible robot to be co-manipulated by the surgeon during the drilling procedures on the femur head. The real-time navigation of this robotic system is based on the registration between the femur model, constructed from the CT scan, and the surface constructed with ultrasound images, acquired during the surgical procedures. Experimental results, performed in a femur phantom, show that the robot location errors are around 2 mm.application/pdfpt_PTRobotic system navigation developed for hip resurfacing prosthesis surgeryPersonalTorres, PedroDSpacehttp://dspace.org/items/9d9ad49f-3c45-4a99-be21-7f13965c2628DSpacehttp://dspace.org/items/9d9ad49f-3c45-4a99-be21-7f13965c2628BAPTISTA TORRESPEDRO MIGUELCiência IDhttps://www.ciencia-id.pt2711-E707-519CORCIDhttp://orcid.org0000-0003-4835-5022Scopus Author IDhttps://www.scopus.com56261515100PersonalGonçalves, PauloDSpacehttp://dspace.org/items/86a6a234-d690-4c2b-8bee-d58005eebba2DSpacehttp://dspace.org/items/86a6a234-d690-4c2b-8bee-d58005eebba2GonçalvesPauloCiência IDhttps://www.ciencia-id.pt2816-A2FA-C5A3ORCIDhttp://orcid.org0000-0002-8692-7338Researcher IDhttps://www.researcherid.comE-5640-2012Scopus Author IDhttps://www.scopus.com35853838000Martins, Jorge M.M.HostingInstitutionOrganizationalRepositório Científico do Instituto Politécnico de Castelo Brancoe-mailmailto:repositorio@ipcb.ptrepositorio@ipcb.ptISBNIsPartOf978-3-319-59971-7DOIIsPartOfhttps://doi.org/10.1007/978-3-319-59972-4_132018-05-08T15:12:33Z20182018-01-01T00:00:00ZHandlehttp://hdl.handle.net/10400.11/6074http://purl.org/coar/access_right/c_16ecrestricted accessHip resurfacingMedical roboticsSurgical navigationComputer-assisted surgery1929326 bytesEuropean CommissionEuropean Clearing House for Open Robotics DevelopmentFP7Crossref Funder IDhttp://doi.org/10.13039/501100008530literaturehttp://purl.org/coar/resource_type/c_3248book parthttp://purl.org/coar/access_right/c_16ecapplication/pdffulltexthttps://repositorio.ipcb.pt/bitstreams/d5bec2e3-cb22-4a35-9218-de774543464d/downloadNew Trends in Medical and Service Robots173183 |
| spellingShingle | Robotic system navigation developed for hip resurfacing prosthesis surgery Robotic system navigation developed for hip resurfacing prosthesis surgery Torres, Pedro Hip resurfacing Medical robotics Surgical navigation Computer-assisted surgery Torres, Pedro Hip resurfacing Medical robotics Surgical navigation Computer-assisted surgery |
| status | NEW |
| subject.fl_str_mv | Hip resurfacing Medical robotics Surgical navigation Computer-assisted surgery |
| title | Robotic system navigation developed for hip resurfacing prosthesis surgery |
| title_full | Robotic system navigation developed for hip resurfacing prosthesis surgery |
| title_fullStr | Robotic system navigation developed for hip resurfacing prosthesis surgery Robotic system navigation developed for hip resurfacing prosthesis surgery |
| title_full_unstemmed | Robotic system navigation developed for hip resurfacing prosthesis surgery Robotic system navigation developed for hip resurfacing prosthesis surgery |
| title_short | Robotic system navigation developed for hip resurfacing prosthesis surgery |
| title_sort | Robotic system navigation developed for hip resurfacing prosthesis surgery |
| topic | Hip resurfacing Medical robotics Surgical navigation Computer-assisted surgery |
| topic_facet | Hip resurfacing Medical robotics Surgical navigation Computer-assisted surgery |
| url | http://hdl.handle.net/10400.11/6074 |
| visible | 1 |