Hill, D;
Williamson, T;
Lai, CY;
Leary, M;
Brandt, M;
Choong, P;
(2021)
A novel robot with a toroidal workspace for coring applications.
In:
Proceedings of the 2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM).
(pp. pp. 548-553).
IEEE: Delft, Netherlands.
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Abstract
Removing a volume of tissue as a single mass can be a complicated operation, and in many cases it would be advantageous to be able to remove more complex geometries and preserve nearby critical regions. In this paper, we present a novel robot with 2 degrees of freedom, designed for cutting around a parametric torus-shaped volume. The kinematics of this system make it possible to drive the tip of the linkage such that it does not collide with any point not on the surface of the specified torus. Two types of tool paths can be followed, with the torus geometry defined to fit a target region of material. Three bone tumor cases were used for simulating the approach. Compared to more standard tri-planar cutting approaches, a toroidal resection could improve upon the amount of healthy bone resected, and reduce surgical access requirements.
| Type: | Proceedings paper |
|---|---|
| Title: | A novel robot with a toroidal workspace for coring applications |
| Event: | 2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) |
| ISBN-13: | 9781665441391 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/AIM46487.2021.9517627 |
| Publisher version: | http://dx.doi.org/10.1109/AIM46487.2021.9517627 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | surgical robotics, elaborate resection, torus |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Electronic and Electrical Eng |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10135543 |
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