Compact Bone Surgery Robot With a High-Resolution and High-Rigidity Remote Center of Motion Mechanism.

Journal: IEEE transactions on bio-medical engineering
Published Date: Jan 3, 2020

Abstract

OBJECTIVE: Two important and difficult tasks during a bone drilling procedure are guiding the orientation of the drilling axis toward the target and maintaining the orientation against the drilling force. To accomplish these tasks, a remote center of motion (RCM) mechanism is adopted to align the orientation of the drilling axis without changing the entry point. However, existing RCM mechanisms do not provide sufficient resolution and rigidity to address hard tissue cases.

Authors

  • Seongbo Shim
    Department of Robotics Engineering, DGIST, 333, Techno jungang-daero, Hyeonpung-myeon, Dalseong-gun, Daegu, Korea.
  • Daekeun Ji
    Department of Robotics Engineering, DGIST, 333, Techno jungang-daero, Hyeonpung-myeon, Dalseong-gun, Daegu, Korea.
  • Seongpung Lee
  • Hyunseok Choi
    Department of Robotics Engineering, DGIST, 333, Techno jungang-daero, Hyeonpung-myeon, Dalseong-gun, Daegu, Korea.
  • Jaesung Hong
    Department of Robotics Engineering, DGIST, 333, Techno jungang-daero, Hyeonpung-myeon, Dalseong-gun, Daegu, Korea. jhong@dgist.ac.kr.

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