Flexible robotic device for spinal surgery

Conference paper

Morad, S., Ulbricht, C., Harkin, P., Chan, J., Parker, K. and Vaidyanathan, R. 2014. Flexible robotic device for spinal surgery. 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014). Bali, Indonesia 05 - 10 Dec 2014 IEEE. https://doi.org/10.1109/ROBIO.2014.7090336
AuthorsMorad, S., Ulbricht, C., Harkin, P., Chan, J., Parker, K. and Vaidyanathan, R.
TypeConference paper
Abstract

The present generation of surgical tools is reliant on drills and cutting tools that cannot navigate through small corners present in complex bones such as the spinal column. This paper summarizes the development of a flexible robotic surgical system to be used in minimally invasive spinal surgery (MISS), targeting the removal of cancerous tissue. The cutting system consists of a flexible drill and a water-jet cutter which may be used interchangeably; each capable of bending around the spinal column for tissue removal. A robot platform has been designed and fabricated that acts as a mount for the cutting system, and produces the desired range of movements. A graphical user interface (GUI) has been created to analyze the working envelope of the platform and provide an interface for control by a surgeon. Experimental testing shows that prototypes of both the drill and water jet cutter are able to go around angles up to 120° and remove soft tissues off the bone. The developed systems could be used to remove cancerous tumors surrounding the spinal column in MISS procedures.

Year2014
Conference2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)
PublisherIEEE
Accepted author manuscript
License
File Access Level
Anyone
Publication dates
Online23 Apr 2015
Publication process dates
Deposited08 Dec 2021
Journal citationpp. 235-240
Book title2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)
ISBN978-1-4799-7397-2
FunderEngineering and Physical Sciences Research Council (EPSRC)
Digital Object Identifier (DOI)https://doi.org/10.1109/ROBIO.2014.7090336
Copyright holder© 2014 IEEE
Copyright informationPersonal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Permalink -

https://repository.uel.ac.uk/item/8q072

Log in to edit

Download files

Accepted author manuscript
286.pdf
License: All rights reserved
File access level: Anyone

  • 129
    total views
  • 119
    total downloads
  • 3
    views this month
  • 3
    downloads this month

Export as

Related outputs

A Polymer-based Femoral Stem Implant: Finite Element Analysis Study
Crobu, L., Morad, S. and Sharif, S. 2024. A Polymer-based Femoral Stem Implant: Finite Element Analysis Study. 2024 International Conference on Innovation and Intelligence for Informatics, Computing, and Technologies.
Active constraint control for the surgical robotic platform with concentric connector joints
Morad, S., Ulbricht, C., Harkin, P., Chan, J., Parker, K. and Vaidyanathan, R. 2024. Active constraint control for the surgical robotic platform with concentric connector joints. Medical Engineering & Physics. 132 (Art. 104236). https://doi.org/10.1016/j.medengphy.2024.104236
Custom Fit Non-Invasive Ventilation Mask with Microclimate Monitor: Preliminary Study
Morad, S. and Lindsay, S. 2024. Custom Fit Non-Invasive Ventilation Mask with Microclimate Monitor: Preliminary Study. International Journal of Engineering and Technology. 16 (2), pp. 104-108. https://doi.org/10.7763/IJET.2024.V16.1263
Towards Tactile Sensing of the Epidural Needle into the Spinal Column
Vakulabharanam, S. S. N., Sharif, S. and Morad, S. 2023. Towards Tactile Sensing of the Epidural Needle into the Spinal Column. 3ICT 2023: International Conference on Innovation and Intelligence for Informatics, Computing, and Technologies. University of Bahrain, Bahrain 20 - 21 Nov 2023 IEEE. https://doi.org/10.1109/3ICT60104.2023.10391801
Non-Invasive Ventilation Sensor Mask (NIVSM): Preliminary Design and Testing
Lebetiou, H., Morad, S., Sharif, S. and Nichols, P. 2023. Non-Invasive Ventilation Sensor Mask (NIVSM): Preliminary Design and Testing. 3ICT 2023: International Conference on Innovation and Intelligence for Informatics, Computing, and Technologies. University of Bahrain, Bahrain 20 - 21 Nov 2023 IEEE. https://doi.org/10.1109/3ICT60104.2023.10391452
A Novel Mechanical Design of a Wearable Fingertip Haptic Device for Remote Meniscus Palpation
Morad, S., Jaffer, Z. and Dogramadzi, S. 2023. A Novel Mechanical Design of a Wearable Fingertip Haptic Device for Remote Meniscus Palpation. Journal of Medical Robotics Research. 8 (1-2), p. 2350001. https://doi.org/10.1142/S2424905X23500010
Design of a Wearable Fingertip Haptic Device: Investigating Materials of Varying Stiffness for Mapping the Variable Compliance Platform
Morad, S., Jaffer, Z. and Dogramadzi, S. 2021. Design of a Wearable Fingertip Haptic Device: Investigating Materials of Varying Stiffness for Mapping the Variable Compliance Platform. Journal of Medical Robotics Research. 6 (Art. 2150005). https://doi.org/10.1142/S2424905X21500057
Surgical Robot Platform with a Novel Concentric Joint for Minimally Invasive Procedures
Morad, S., Ulbricht, C., Harkin, P., Chan, J., Parker, K. and Vaidyanathan, R. 2021. Surgical Robot Platform with a Novel Concentric Joint for Minimally Invasive Procedures. Journal of Medical Robotics Research. 5 (Art. 2050001). https://doi.org/10.1142/S2424905X20500014
Concentric joint connectors for form-changing space frames
Harkin, P., Vaidyanathan, R. and Morad, S. 2019. Concentric joint connectors for form-changing space frames. SEMC 2019: 7th International Conference on Structural Engineering, Mechanics and Computation. Cape Town, South Africa 02 - 04 Sep 2019 CRC Press. https://doi.org/10.1201/9780429426506-170
Design and Evaluation of a Percutaneous Fragment Manipulation Device for Minimally Invasive Fracture Surgery
Georgilas, I., Dagnino, G., Martins, B. A., Tarassoli, P., Morad, S., Georgilas, K., Koehler, P., Atkins, R. and Dogramadzi, S. 2019. Design and Evaluation of a Percutaneous Fragment Manipulation Device for Minimally Invasive Fracture Surgery. Frontiers in Robotics and AI. 6 (Art. 103). https://doi.org/10.3389/frobt.2019.00103
Robot-Bone Attachment Device for Robot-Assisted Percutaneous Bone Fragment Manipulation
Dagnino, G., Georgilas, K., Köhler, P., Morad, S., Gibbons, P., Atkins, R. and Dogramadzi, S. 2017. Robot-Bone Attachment Device for Robot-Assisted Percutaneous Bone Fragment Manipulation. 17th Annual Meeting of the International Society for Computer Assisted Orthopaedic Surgery (CAOS) . Aachen, DE 14 - 17 Jun 2017 Easy Chair. https://doi.org/10.29007/6wtt
Intra-operative fiducial-based CT/fluoroscope image registration framework for image-guided robot-assisted joint fracture surgery
Dagnino, G., Georgilas, I., Morad, S., Gibbons, P., Tarassoli, P., Atkins, R. and Dogramadzi, S. 2017. Intra-operative fiducial-based CT/fluoroscope image registration framework for image-guided robot-assisted joint fracture surgery. International Journal of Computer Assisted Radiology and Surgery. 12, p. 1383–1397. https://doi.org/10.1007/s11548-017-1602-9
Image-Guided Surgical Robotic System for Percutaneous Reduction of Joint Fractures
Dagnino, G., Georgilas, I., Morad, S., Gibbons, P., Tarassoli, P., Atkins, R. and Dogramadzi, S. 2017. Image-Guided Surgical Robotic System for Percutaneous Reduction of Joint Fractures. Annals of Biomedical Engineering. 45, p. 2648–2662. https://doi.org/10.1007/s10439-017-1901-x
Navigation system for robot-assisted intra-articular lower-limb fracture surgery
Dagnino, G., Georgilas, I., Köhler, P., Morad, S., Atkins, R. and Dogramadzi, S. 2016. Navigation system for robot-assisted intra-articular lower-limb fracture surgery. International Journal of Computer Assisted Radiology and Surgery. 11, p. 1831–1843. https://doi.org/10.1007/s11548-016-1418-z
Modelling and control of a water jet cutting probe for flexible surgical robot
Morad, S., Ulbricht, C., Harkin, P., Chan, J., Parker, K. and Vaidyanathan, R. 2015. Modelling and control of a water jet cutting probe for flexible surgical robot. 2015 IEEE International Conference on Automation Science and Engineering (CASE). Gothenburg, Sweden 24 - 28 Aug 2015 IEEE. https://doi.org/10.1109/CoASE.2015.7294254
The Shape of the Urine Stream — From Biophysics to Diagnostics
Wheeler, A. P. S., Morad, S., Buchholz, N. and Knight, M. M. 2012. The Shape of the Urine Stream — From Biophysics to Diagnostics. PLoS ONE. 7 (Art. e47133). https://doi.org/10.1371/journal.pone.0047133