Thesis
An articulated drill and hybrid tracking navigation system for orthopaedic surgery
- Creator
- Rights statement
- Awarding institution
- University of Strathclyde
- Date of award
- 2019
- Thesis identifier
- T15429
- Person Identifier (Local)
- 201166719
- Qualification Level
- Qualification Name
- Department, School or Faculty
- Abstract
- The need for an articulated drill is driven by the increasing clinical requirement for improving the surgical outcomes and decreasing the complications of the THA procedure. Besides that, after the total hip arthroplasty (THA) procedure, there is also probability of the patient ending up with unequal leg lengths, which are referred to as a leg-length discrepancy (LLD). One way to reduce the risk in THA procedure is improving accurate placement and alignment of implants using robotic technology. In Total Hip Arthroplasty (THA), the usage of robotic orthopaedic surgery per se is applied in the acetabular cup positioning and orientation, and femoral stem positioning. However, in robotic orthopaedic surgery with tracking and navigation system, the femoral stem insertion depends on hand-rasping method and confirmation of position by placing tracking marker at the neck shaft of femoral stem after insertion. Besides that, femoral milling with navigation for anatomical femoral stem insertion was not feasible due to its slightly curved profile. This is because current tools are not able to track milling that follows the curve profile of anatomical femoral stem. The emergence of robotic micro-tools give opportunity for developing an articulated drill system that has the ability to mill inside femoral canal when it is combined with CAOS and is trackable under minimally invasive approach.;The research has the objectives of design and development of articulated drill sheath with motor control from straight shaft to bendable shaft, design and development of hybrid tracking system, combination between optical tracking system and potentiometer tracking system in order to track surgical tool inside the bone, design and development of navigation software for articulated drill sheath, to measure reaction force when milling in different bending configurations and rake angles, and understanding the static performance of articulated drill system under different configurations, and confirm the capability of the articulated drill system to sustain bending when milling under different configuration, to analyse the 3D geometry of curved tunnel from milling guided by the navigation system, and test the accuracy of the navigation system in milling the femoral stem shape inside femur sawbone.;Articulated drill tip sheath with motor control from straight shaft to bendable shaft was designed and developed. Besides that, hybrid tracking system, combination between optical tracking system and potentiometer tracking system in order to track surgical tool inside the bone was also designed and developed. Streams of input from both optical tracking system and potentiometer tracking system are integrated in the navigation software of articulated drill navigation system. The navigation system for articulated drill sheath was designed and developed. The navigation system is a multi-modality computer-aided integration system. The navigation software is able to integrate optical tracking system and potentiometer tracking system.;Experiment on measurement of reaction force has been done. The reaction force when milling in different bending configuration and rake angles has been measured, and the static performance of articulated drill system under different configurations has been understood. The articulated drill system is bale to sustain bending in different configurations while milling the bone sample. The articulated drill system was integrated and was used for evaluative experiments in sawbones. 3D geometric analysis of the shape of the cut area experiment was done. The analysis of results confirmed that the tracking system is able to guide the articulated drill inside femur, in which a deviation from cut area and outline of femoral stem from navigation software was in range from -0.759 mm to 1.151 mm. Accuracy Analysis/Symmetry Analysis experiment was done. The accuracy of the navigation system is within 1.728 mm. Keywords - Robotics; Articulated; Tracking; Navigation; Hybrid Navigation; Orthopaedics; Total Hip arthroplasty (THA).
- Advisor / supervisor
- Yao, Wei
- Rowe, Philip
- Resource Type
- DOI
- Date Created
- 2019
- Former identifier
- 9912779793302996
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