Development of a Surgical Robot for Total Knee Replacement

• Main Authors: Ying-Lun Hsu, 許英倫
• Other Authors: Ping-Lang Yen
• Format: Others
• Language: zh-TW
• Published: 2009
• Online Access: http://ndltd.ncl.edu.tw/handle/fcfaz9

碩士 === 國立臺北科技大學 === 自動化科技研究所 === 97 === For the past several years, the countries ‘ populations are aging gradually as a result of the human lifetime extending and the birth rate dropping. Also, various degenerative diseases occur in the man who grows old. Total Knee Replacement Surgery has become one of main choices of treating arthritis. In traditional surgery, the doctors used to perform surgery on knee replacement with particular instrument. However, the result was not very perfect because the man bone is dissimilar. Thus, combining robots which has the characteristics of high-precise cutting and customized skill helps the surgery perform. It makes the patient get good quality and effective operation. In this paper, We adopt a 3-DOF XYZ table as the technique’s center to assist the robot on surgery practically, securely, and precisely. Another, three rotating axis are combined with this structure in order to increase the degrees of freedom for need. Then we analyze this structure about kinematics, workspace, etc. This structure, Robot Calibration, is used to survey out the bone characteristic. By the bone characteristic, we calculate and adjust the robot’s posture ,then we process to cutting in drawn route. By the way, the design of controller and force sensor have an effect on the doctors to assist the surgery with bone cutting of ease-control and preciseness So far, we have done with Gross Anatomy experiment many times, hence the main study objects are about surgical process in practical and question discussion.