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실시간 정합을 이용한 인공 슬관절 치환 수술 로봇의 개발 : Development of Total Knee Arthroplasty Surgical Robot Using Real-time Registration
DC Field | Value | Language |
---|---|---|
dc.contributor.advisor | 이건우 | - |
dc.contributor.author | 장태호 | - |
dc.date.accessioned | 2017-07-13T06:14:03Z | - |
dc.date.available | 2017-07-13T06:14:03Z | - |
dc.date.issued | 2014-02 | - |
dc.identifier.other | 000000018095 | - |
dc.identifier.uri | https://hdl.handle.net/10371/118374 | - |
dc.description | 학위논문 (박사)-- 서울대학교 대학원 : 기계항공공학부, 2014. 2. 이건우. | - |
dc.description.abstract | Total knee arthroplasty (TKA) is a surgical operation for replacing a degenerated or damaged knee joint that can no longer perform simple function, such as knee bending or walking, with an artificial knee implant. The artificial knee implant alignment with the mechanical axis of the leg is a one of most important factors in TKA. Thus, precise bone cutting result is essential to guarantee accurate insertion of the artificial knee implant. To obtain precise TKA outcomes, a registration process is performed to locate the pre-operatively planned bone cutting area in the operation room by calculating the position and posture of the femur and tibia.
In this paper, we propose the patient-specific registration guide which can simplify registration process in terms of required time and effort without a loss of accuracy. Furthermore, the patient-specific registration guide allows implementing a real-time registration. Therefore, continuous surgical information can be provided without any invasive tracking devices. And, using real-time registration result, the tool paths were modified and updated to compensate bone movement due to be changed invasive fixation method as a non-invasive way. The precision and accuracy of the proposed registration guide were confirmed through animal tests with a digitizer, stereo camera and linear motion generator. And new bone cutting method was validated with 6-axis robot by comparing cutting result, ideal surgical planned cutting plane, cutting plane with invasive fixation and cutting plane with non-invasive fixation as following tool path compensation. The error of our registration method, including measurement and guide attachment errors, reached a maximum of 0.3 mm for one pair of cow legs. And the total surgical error of our system was below 0.5mm for artificial human leg. | - |
dc.description.tableofcontents | Abstract i
Contents iii List of figures v List of tables xv Chapter 1. Introduction 1 1.1 Total knee arthroplasty 1 1.2 Current surgical methods 6 1.3 Current registration methods 12 Chapter 2. Materials and Methods 18 2.1 Patient-specific registration guide 18 2.1.1 Concept of the patient-specific registration 111111guide 18 2.1.2 Bone segmentation 29 2.1.3 Patient-specific registration guide design 31 2.2 Development of a TKA surgical robot system using real-time registration 37 2.2.1 System overview 37 2.2.2 Non-invasive fixation device 44 2.2.3 Tool path compensation 46 2.2.4 Patient-specific registration guide 53 Chapter 3. Results 56 3.1 Validation of the atient-specific registration guide 56 3.1.1 Bone segmentation error 56 3.1.2 Registration error 61 3.2 Validation of the TKA surgical robot system using real-time registration 80 3.2.1 Real-time registration error 80 3.2.2 Robot error 84 3.2.3 Experimental setup and cutting process 87 3.2.4 Comparison of bone cutting result 102 Chapter 4. Discussion 113 Chapter 5 Conclusions 117 Bibliography 118 Abstract(Korean) 126 | - |
dc.format | application/pdf | - |
dc.format.extent | 3488924 bytes | - |
dc.format.medium | application/pdf | - |
dc.language.iso | en | - |
dc.publisher | 서울대학교 대학원 | - |
dc.subject | 인공 슬관절 치환술 | - |
dc.subject | 실시간 정합 | - |
dc.subject | 환자 맞춤형 | - |
dc.subject | 비 침습적 | - |
dc.subject.ddc | 621 | - |
dc.title | 실시간 정합을 이용한 인공 슬관절 치환 수술 로봇의 개발 | - |
dc.title.alternative | Development of Total Knee Arthroplasty Surgical Robot Using Real-time Registration | - |
dc.type | Thesis | - |
dc.contributor.AlternativeAuthor | Taeho Jang | - |
dc.description.degree | Doctor | - |
dc.citation.pages | xv, 127 | - |
dc.contributor.affiliation | 공과대학 기계항공공학부 | - |
dc.date.awarded | 2014-02 | - |
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