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.
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