Publicação
Computer-assisted surgery system for trochleoplasty
| Resumo: | Throchleoplasty is an orthopaedic surgical intervention that aims to correct the trochlear dysplasia, the main predisposing factor of patellar instability. Due to the complexity of this surgery and the lack of solutions to improve this surgical procedure, orthopaedic surgeons from Hospital of Braga have proposed this work. A solution to overcome the limitations and complications that this surgery involves should be addressed. Traditional procedures performed during this surgical intervention have demonstrated some limitations that were considered in the developed implementation. A state of the art regarding the computerassisted surgery systems in the orthopaedics field has shown that there are no references of computerassisted surgery systems addressing the trochleoplasty intervention. A design and planning of a computer-assisted surgery system for trochleoplasty was performed aiming to overcome the main limitations of the trochleoplasty surgical procedures. The main modules addressed during this thesis were the planning of the robotic system to implement in this application and its simulation and an implementation of a surgical navigation module. A robotic arm that fulfills the requirements of this application was selected to assist the surgeon. A hands-on robotic system was planned in order to provide surgical procedures assistance. A robotic simulation was developed with an operating room environment composed by the main components of a computer-assisted surgery system. The manipulation of the robotic arm during the simulation was implemented resorting to a PS3 controller, a Wii remote plus and a joystick. Surgical navigation module is one of the main components of this system. This module was developed in order to provide the required guidance to the surgeon during the trochleoplasty using the proposed robotic system. The point-to-point and surface registrations were implemented in this module in order to achieve the navigated surgery. The connection between the robotic system and the surgical navigation module was implemented allowing to perform a simulated computer-assisted trochleoplasty. The surgical navigation module was validated with orthopaedic surgeons and these results show a great acceptance by the surgeons. |
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| Autores principais: | Barbosa, Roberto Martins |
| Assunto: | Patellar instability Trochleoplasty Computer-assisted surgery Preoperative plan Registration Robotic system Surgical navigation Orthopaedic surgery Instabilidade patelar Trocleoplastia Cirurgia assistida por computador Plano pré-operatório Registo Sistema robótico Navegação cirúrgica Cirurgia ortopédica |
| Ano: | 2017 |
| País: | Portugal |
| Tipo de documento: | dissertação de mestrado |
| Tipo de acesso: | acesso aberto |
| Instituição associada: | Universidade do Minho |
| Idioma: | inglês |
| Origem: | RepositóriUM - Universidade do Minho |
| Resumo: | Throchleoplasty is an orthopaedic surgical intervention that aims to correct the trochlear dysplasia, the main predisposing factor of patellar instability. Due to the complexity of this surgery and the lack of solutions to improve this surgical procedure, orthopaedic surgeons from Hospital of Braga have proposed this work. A solution to overcome the limitations and complications that this surgery involves should be addressed. Traditional procedures performed during this surgical intervention have demonstrated some limitations that were considered in the developed implementation. A state of the art regarding the computerassisted surgery systems in the orthopaedics field has shown that there are no references of computerassisted surgery systems addressing the trochleoplasty intervention. A design and planning of a computer-assisted surgery system for trochleoplasty was performed aiming to overcome the main limitations of the trochleoplasty surgical procedures. The main modules addressed during this thesis were the planning of the robotic system to implement in this application and its simulation and an implementation of a surgical navigation module. A robotic arm that fulfills the requirements of this application was selected to assist the surgeon. A hands-on robotic system was planned in order to provide surgical procedures assistance. A robotic simulation was developed with an operating room environment composed by the main components of a computer-assisted surgery system. The manipulation of the robotic arm during the simulation was implemented resorting to a PS3 controller, a Wii remote plus and a joystick. Surgical navigation module is one of the main components of this system. This module was developed in order to provide the required guidance to the surgeon during the trochleoplasty using the proposed robotic system. The point-to-point and surface registrations were implemented in this module in order to achieve the navigated surgery. The connection between the robotic system and the surgical navigation module was implemented allowing to perform a simulated computer-assisted trochleoplasty. The surgical navigation module was validated with orthopaedic surgeons and these results show a great acceptance by the surgeons. |
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