Cutting Tool Protects for Soft Tissues in Bone-Milling Machining
Naohiko Sugita*, Taiga Nakano*, Takayuki Osa*, Yoshikazu Nakajima*, Kazuo Fujiwara**, Nobuhiro Abe**, Toshifumi Ozaki**, Masahiko Suzuki***, and Mamoru Mitsuishi*
*Department of Engineering Synthesis, School of Engineering, The University of Tokyo
7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
**Graduate School of Medicine, Density and Pharmaceutical Sciences, Okayama University
2-5-1 Shikata-cho, Okayama-city, Okayama 700-8558, Japan
***Graduate School of Medicine, Chiba University
1-8-1 Inohana, Chuo-ku, Chiba 260-8677, Japan
Minimally invasive orthopedic surgery using a milling machine presents challenges. The milling machine we developed has a redundant axis to minimize cutting-tool contact with surrounding soft tissue. Important components are modeled based on physical requirements, and model-based geometric optimization improves performance. Here we discuss the protective mechanism, hardware, and software we developed to cover the nonworking cutting-edge portion and to protect against soft-tissue damage. We evaluated the effectiveness of this approach using cadaveric bone.
-  R. H. Taylor, B. D. Mittelstadt, H. A. Paul, W. Hanson, P.Kazanzides, J. F. Zuhars, B. Williamson, B. L. Musits, E. Glassman,and W.L. Bargar, "An image-directed robotic system for preciseorthopaedic surgery," IEEE Trans. on Robotics and Automation,Vol.10, No.3, pp. 261-275, 1994.
-  F. Rodriguez, S. Harris, M. Jakopec, A. Barrett, P. Gomes, J.Henckel, J. Cobb, and B. Davies, "Robotic Clinical Trials of UnicondylarArthroplasty," Int J Medical Robotics and Computer AssistedSurgery, Vol.1, No.4, pp. 20-28, 2005.
-  P. Maillet, B. Nahum, L. Blondel, P. Poignet, and E. Dombre,"BRIGHT, a Robotized Tool Guide for Orthopaedic Surgery,"Proceedings of IEEE Conference on Robotics and Automation(ICRA'05), pp. 212-217, 2005.
-  J. H. Chung, S. Y. Ko, D. S. Kwon, J. J. Lee, Y. S. Yoon, and C.H. Won, "Robot-assisted femoral stem implantation using an intramedullagauge," IEEE Transaction on Robotics and Automation,Vol.19, No.5, pp. 885-892, 2003.
-  C. Plaskos and P. Cinquin, "Praxiteles: a miniature bone-mountedrobot for minimal access total knee arthroplasty," Int. J. of MedicalRobotics and Computer Assisted Surgery, Vol.1, No.4, pp. 67-79,2005.
-  M. Mitsuishi, S. Warisawa, and F. Tajima, "Development of a 9Axes Machine Tool for Bone Cutting," CIRP Annals, Vol.52, No.1pp. 323-328, 2003.