Designing an Impedance Control Algorithm for a Teleoperation System for Orthopedic Surgery
الموضوعات :
Abolghasem Mokhtari
1
(Department of mechanical engineering, Najafabad Branch, Islamic Azad University, Najafabad, Iran)
sayedali mousavi
2
(Najafabad Branch, Islamic Azad University, Najafabad, Iran
*Corresponding author)
الکلمات المفتاحية: Time delay, Teleoperation Systems, Impedance Control, Orthopedic Surgery,
ملخص المقالة :
Surgeries, such as orthopedic surgeries, are always performed with the use of a free hand with the aid of a fluoroscopic device to drill and place the screw in the bone position. However, such surgeries are of high risk and radioactive contamination, and have long surgery duration. Since the drilling process is very important and usually depends on the skill of the surgeon, a teleoperation system is provided to perform this task. In order to gain better control over the patient's body by the surgeon, an impedance control algorithm that incorporates the robot's position and velocity signal along with the surgeon's hand force and bone response force is provided in order for the surgeon to have proper control over the surgical process. Finally, drilling operation is performed on a cow bone to evaluate the teleoperation system presented. The results of the teleoperation system show that the desired system is acceptable under the proposed control algorithm. The results show that the drilling tool on the cow bone correctly follows the surgeon's hand position and the surgeon correctly feels the force applied to the tool by the cow bone.
[1] Cosgrove, M. S., Infection Control in the Operating Room, Critical Care Nursing Clinics of North America, Vol. 27, No. 1, 2015, pp. 79-87.
[2] Reynolds, J. A., MacDonald J. D., Direct C2 Pedicle Screw Fixation for Axis Body Fracture, World Neurosurgery, Vol. 93, 2016, pp. 279-285.
[3] Dea, N., Fisher, C. G., Batke, J., Strelzow, J., Mendelsohn, D., Paquette, S. J., Kwon, B. K., Boyd, M. D., Dvorak, M. F. S., and Street, J. T., Economic Evaluation Comparing Intraoperative Cone Beam CT-Based Navigation and Conventional Fluoroscopy for The Placement of Spinal Pedicle Screws: A Patient-Level Data Cost-Effectiveness Analysis, The Spine Journal, Vol. 16, No. 1, 2016, pp. 23-31.
[4] Ryang, Y. M., Villard, J., Obermüller, T., Friedrich, B., Wolf, P., Gempt, J., Ringel, F., and Meyer, B., Learning Curve of 3D Fluoroscopy Image–Guided Pedicle Screw Placement in the Thoracolumbar Spine, The Spine Journal, Vol. 15, No. 3, 2015, pp. 467-476.
[5] Kim, D. Y., Kim, J. R., Jang, K. Y., Kim, M. G., and Lee, K. B., Evaluation of Titanium-Coated Pedicle Screws: In Vivo Porcine Lumbar Spine Model, World Neurosurgery, Vol. 9, 2016, pp. 163-171.
[6] Fowell, C., Edmondson, S., Martin, T., and Praveen, P., Rapid Prototyping and Patient-Specific Pre-Contoured Reconstruction Plate for Comminuted Fractures of the Mandible, British Journal of Oral and Maxillofacial Surgery, Vol. 53, No. 10, 2015, pp. 1035-37.
[7] Namba, K., Higaki, A., Kaneko, N., Mashiko, T., Nemoto, S., and Watanabe, E., Micro catheter Shaping for Intracranial Aneurysm Coiling Using the 3-Dimensional Printing Rapid Prototyping Technology: Preliminary Result in the First 10 Consecutive Cases, World Neurosurgery, Vol. 84, No. 1, 2015, pp. 178-86.
[8] Shreepad, S., Ravi, W., New Revolutionary Ideas of Material Processing – A Path to Biomaterial Fabrication by Rapid Prototyping, Procedia - Social and Behavioral Sciences, No. 195, 2015, pp. 2761-68.
[9] Richards, P. J., Kurta, I. C., Jasani, V, Jones, C. H., Rahmatalla, A., and Mackenzie, G., Assessment of CAOS as a Training Model in Spinal Surgery: A Randomized Study, Eur Spine J, Vol. 16, 2007, pp. 239–244.
[10] Jarvers, J. S., Franck, A., Glasmacher, S., and Josten, C., Minimally Invasive Posterior C1/2 Screw Fixation Using C1 Lateral Mass Screws and C2 Pedicle Screws with 3D C-Arm-Based Navigation, Operative Techniques in Orthopaedics, Vol. 23, No. 1, 2013, pp. 2-8.
[11] Fowell, C., Edmondson, S., Martin, T., and Praveen, P., Rapid Prototyping and Patient-Specific Pre-Contoured Reconstruction Plate for Comminuted Fractures of the Mandible, British Journal of Oral and Maxillofacial Surgery, Vol. 53, No. 10, 2015, pp. 1035-1037.
[12] Lee, J. W., Lim, S. H., Kim, M. K., and Kang, S. H., Precision of a CAD/CAM–Engineered Surgical Template Based On a Facebow for Orthognathic Surgery: An experiment with A Rapid Prototyping Maxillary Model, Oral Surgery, Oral Medicine, Oral Pathology and Oral Radiology, Vol. 120, No. 6, 2015, pp. 684-692.
[13] Val, J. D., Cancelos, R. L., Riverio, A., Badaoui, A., Lusquinos, F., Quintero, F., Comesana, R., Boutinguiza, M., and Pou, J., On the Fabrication of Bioactive Glass Implants for Bone Regeneration by Laser Assisted Rapid Prototyping Based On Laser Cladding, Ceramics International, Vol. 42, No. 1, 2016, Part B: pp. 2021-2035.
[14] Lu, S., Xu, Y., Zhang, Y., Li, Y. B., Shi Ji. H., Chen, G. P., and Chen, Y. B., Rapid Prototyping Drill Guide Template for Lumbar Pedicle Screw Placement, Chinese Journal of Traumatology (English Edition), Vol. 12, No. 3, 2009, pp. 177-180.
[15] Olszewski, R., Tranduy, K., and Reychler, H., Innovative Procedure for Computer-Assisted Genioplasty: Three-Dimensional Cephalometry, Rapid-Prototyping Model and Surgical Splint, International Journal of Oral and Maxillofacial Surgery, Vol. 39, No. 7, 2010, pp. 721-724.
[16] Mac Dessi, S. J., Jang, B., Harris, I. A., Wheatley, E., Bryant, C., and Chen, D. B., A comparison of Alignment Using Patient Specific Guides, Computer Navigation and Conventional Instrumentation in Total Knee Arthroplasty, The Knee, Vol. 21, No. 2, 2014, pp. 406-409.
[17] Condotta, A., Shakhlevich, N. V., Scheduling Patient Appointments Via Multilevel Template: A Case Study in Chemotherapy, Operations Research for Health Care, Vol. 3, No. 3, 2014, pp. 129-144.
[18] Lu, S., Zhang, Y. Z., Wang, Z., Shi, J. H., Chen, Y. B., Xu. X. M., and Y. Q. Y., Accuracy and Efficacy of Thoracic Pedicle Screws in Scoliosis with Patient-Specific Drill Template, Med Biol Eng Comput, Vol. 50, No. 7, 2012, pp. 751–8.
[19] Ma, T., Xu, Y. Q., Cheng, Y. B., Jiang, M. Y., Xu, X. M., Xie, L., and Lu, S., A Novel Computer-Assisted Drill Guide Template for Thoracic Pedicle Screw Placement: A Cadaveric Study, Arch Orthop Trauma Surg, Vol. 132, No. 1, 2012, pp. 65–72.
[20] Schweizer, A., Mauler, F., Vlachopoulos, L., Nagy, L., and Fürnstahl, P., Computer-Assisted 3-Dimensional Reconstructions of Scaphoid Fractures and Nonunions With and Without the Use of Patient-Specific Guides: Early Clinical Outcomes and Postoperative Assessments of Reconstruction Accuracy, The Journal of Hand Surgery, Vol. 41, No. 1, 2016, pp. 59-69.
[21] Lee, D., Spong, M. W., Passive Bilateral Teleoperation with Constant Time Delay, IEEE Transactions on Robotics, Vol. 22, 2006, pp. 269-281.
[22] Nuno, E., Ortega, R., Barabanov, N., and Basanez, L., A Globally Stable PD Controller for Bilateral Teleoperators, IEEE Transactions on Robotics, Vol. 24, 2008, pp. 753-758.
[23] Ishii, T., Katsura, S., Bilateral Control with Local Force Feedback for Delay-Free Teleoperation, The 12th IEEE International Workshop on Advanced Motion Control, Sarajevo, Bosnia and Herzegovina, 2012.
[24] Ueda, J., Yoshikawa. T., Force-Reflecting Bilateral Teleoperation with Time Delay by Signal Filtering, IEEE Transactions on Robotics and Automation, Vol. 20, No. 3, 2004, pp. 613-619.
[25] Cho, H. C., Park, J. H., Stable Bilateral Teleoperation Under a Time Delay Using a Robust Impedance Control, Mechatronics, Vol. 15, 2005, pp. 611-625.
[26] Azimifar, F., Hassani, K., Saveh, A. M., and Ghomshe, F. T., A low Invasiveness Patient's Specific Template for Spine Surgery, Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine, 2016, Vol. 1-6, DOI: 10.1177/0954411916682770.
[27] Amini, H., Dabbagh, V., Rezaei, S. M., Zarenejad, M., Mardi, N. A., and Sarhan, A. D., Robust Control-Based Linear Bilateral Teleoperation System Without Force Sensor, Journal of the Brazilian Society of Mechanical Science and Engineering, Vol. 37, 2015, pp. 579-587.