Design and commissioning of an intelligent robotic saw system for assisting osteotomy surgery.

• Ano de defesa: 2007
• Autor(a) principal: Alfred Makoto Kabayama
• Tipo de documento: Tese
• Tipo de acesso: Acesso aberto
• Idioma: eng
• Instituição de defesa: Instituto Tecnológico de Aeronáutica
• Palavras-chave em Português: Planejamento de tarefas (robótica); Aparelhos e instrumentos cirúrgicos; Ortopedia; Desenvolvimento de produtos; Bioengenharia; Mecatrônica; Medicina; Controle
• Link de acesso: http://www.bd.bibl.ita.br/tde_busca/arquivo.php?codArquivo=573

An orthopaedic saw design and commissioning to be driven by a robot was envisaged based on the requirement to develop a system that would allow a physician to automate some surgical procedures that involve limb manipulation. The project goal is to design and build a proof-of-concept prototype employing both mechatronics and Integrated Product Design techniques and tools, following the specific demands required to build a medical device such as its weight, movement's and patient's anatomic constraints. This saw have intelligent features regarding its control strategy relying on its sensing capabilities such as force feedback and blade temperature sensing. The role of temperature is particularly important because the bone overheating causes cells necrosis. The cut's force penetration sensing provides readings to estimate the saw position during surgery in course. The saw's robot handling ensures the flatness and accuracy of the cut, providing the correct requirements for the osteotomy treatment. The accomplishment of these surgical requirements would ensure a higher rate of successful procedures, besides, it would promote shorten the patients' recovery time. The designing and building of prototype themselves are the original contributions. Furthermore, the spin-offs from this work such as the system's model and the study of its control are important highlights.