Robot Autonomy for Surgery

Autonomous surgery involves having surgical tasks performed by a robot operating under its own will, with partial or no human involvement. There are several important advantages of automation in surgery, which include increasing precision of care due to sub-millimeter robot control, real-time utilization of biosignals for interventional care, improvements to surgical efficiency and execution, and computer-aided guidance under various medical imaging and sensing modalities. While these methods may displace some tasks of surgical teams and individual surgeons, they also present new capabilities in interventions that are too difficult or go beyond the skills of a human. In this chapter, we provide an overview of robot autonomy in commercial use and in research, and present some of the challenges faced in developing autonomous surgical robots

Musculoskeletal shoulder modelling for clinical applications

The shoulder is the most commonly dislocated joint in the human body, with the vast majority of these dislocations being located anteriorly. Anterior shoulder dislocations are commonly associated with capsuloligamentous injuries and osseous defects. Recurrent anterior instability is a common clinical problem and understanding the influence of structural damage on joint stability is an important adjunct to surgical decision-making. Clinical practice is guided by experience, radiology, retrospective analyses and physical cadaver experiments. As the stability of the shoulder is load dependent, with higher joint forces increasing instability, the aim of this thesis was to develop and validate computational shoulder models to simulate the effect of structural damage on joint stability under in-vivo loading conditions to aid surgical decision-making for patients with anterior shoulder instability. The UK National Shoulder Model, consisting of 21 upper limb muscles crossing 5 functional joints, was customised to accurately quantify shoulder loading during functional activities. Ten subject-specific shoulder models were developed from Magnetic Resonance Imaging and validated against electromyographic signals. These models were used to identify the best combination of anthropometric parameters that yield best model outcomes in shoulder loading through linear scaling of personalised shoulder models. These parameters were gender and the ratio of body height to shoulder width (p<0.04) and these model predictions are significantly improved (p<0.02) when compared to the generic model. The forces derived from the modelling were used in two subject-specific finite element models with an anatomically accurate representation of the labrum, to assess shoulder stability through concavity compression under physiological joint loading for pathologies associated with anterior shoulder instability. The key results from these studies were that there is a high risk of shoulder dislocation under physiological joint loading for patients with a 2 mm anterior or 4 mm anteroinferior osseous defect. The loss in anterior shoulder stability in overhead throwing athletes with intact glenoid following biceps tenodesis is compensated by a non-significant increase in rotator cuff muscle force which maintain shoulder stability across all overhead throwing sports, except baseball pitching, where biceps tenodesis has significantly decreased (p<0.02) anterior shoulder stability. The work in this thesis has advanced the technology of musculoskeletal modelling of the shoulder through the inclusion of concavity compression and has applied this to various relevant clinical questions through the further development of an anatomical atlas, and an atlas of tasks of daily living. The applications of such modelling are broader than those addressed here and therefore this work serves as the foundation for potential further studies, including the bespoke design of arthroplasty or other soft tissue procedures.Open Acces

1st EFORT European Consensus: Medical & Scientific Research Requirements for the Clinical Introduction of Artificial Joint Arthroplasty Devices

Innovations in Orthopaedics and Traumatology have contributed to the achievement of a high-quality level of care in musculoskeletal disorders and injuries over the past decades. The applications of new implants as well as diagnostic and therapeutic techniques in addition to implementation of clinical research, have significantly improved patient outcomes, reduced complication rates and length of hospital stay in many areas. However, the regulatory framework is extensive, and there is a lack of understanding and clarity in daily practice what the meaning of clinical &amp; pre‐clinical evidence as required by the MDR is. Thus, understanding and clarity are of utmost importance for introduction of new implants and implant-related instrumentation in combination with surgical technique to ensure a safe use of implants and treatment of patients. Therefore EFORT launched IPSI, The Implant and Patient Safety Initiative, which starting from an inaugural workshop in 2021 issued a set of recommendations, notably through a subsequent Delphi Process involving the National Member Societies of EFORT, European Specialty Societies as well as International Experts. These recommendations provide surgeons, researchers, implant manufacturers as well as patients and health authorities with a consensus of the development, implementation, and dissemination of innovation in the field of arthroplasty. The intended key outcomes of this 1st EFORT European Consensus on “Medical &amp; Scientific Research Requirements for the Clinical Introduction of Artificial Joint Arthroplasty Devices”are consented, practical pathways to maintain innovation and optimisation of orthopaedic products and workflows within the boundaries of MDR 2017/745. Open Access practical guidelines based on adequate, state of the art pre-clinical and clinical evaluation methodologies for the introduction of joint replacements and implant-related instrumentation shall provide hands-on orientation for orthopaedic surgeons, research institutes and laboratories, orthopaedic device manufacturers, Notified Bodies but also for National Institutes and authorities, patient representatives and further stakeholders. We would like to acknowledge and thank the Scientific Committee members, all International Expert Delegates, the Delegates from European National &amp; Specialty Societies and the Editorial Team for their outstanding contributions and support during this EFORT European Consensus

Biomechanics

Biomechanics is a vast discipline within the field of Biomedical Engineering. It explores the underlying mechanics of how biological and physiological systems move. It encompasses important clinical applications to address questions related to medicine using engineering mechanics principles. Biomechanics includes interdisciplinary concepts from engineers, physicians, therapists, biologists, physicists, and mathematicians. Through their collaborative efforts, biomechanics research is ever changing and expanding, explaining new mechanisms and principles for dynamic human systems. Biomechanics is used to describe how the human body moves, walks, and breathes, in addition to how it responds to injury and rehabilitation. Advanced biomechanical modeling methods, such as inverse dynamics, finite element analysis, and musculoskeletal modeling are used to simulate and investigate human situations in regard to movement and injury. Biomechanical technologies are progressing to answer contemporary medical questions. The future of biomechanics is dependent on interdisciplinary research efforts and the education of tomorrow’s scientists

3D printing in biomedicine: advancing personalized care through additive manufacturing

The integration of three-dimensional (3D) printing techniques into the domains of biomedical research and personalized medicine highlights the evolving paradigm shifts within contemporary healthcare. This technological advancement signifies potential breakthroughs in patient-specific therapeutic interventions and innovations. This systematic review offers a critical assessment of the existing literature, elucidating the present status, inherent challenges, and prospective avenues of 3D printing in augmenting biomedical applications and formulating tailored medical strategies. Based on an exhaustive literature analysis comprising empirical studies, case studies, and extensive reviews from the past decade, pivotal sectors including tissue engineering, prosthetic development, drug delivery systems, and customized medical apparatuses are delineated. The advent of 3D printing provides precision in the fabrication of patient-centric implants, bio-structures, and devices, thereby mitigating associated risks. Concurrently, it facilitates the ideation of individualized drug delivery paradigms to optimize therapeutic outcomes. Notwithstanding these advancements, issues concerning material biocompatibility, regulatory compliance, and the economic implications of avant-garde printing techniques persist. To fully harness the transformative potential of 3D printing in healthcare, collaborative endeavors amongst academicians, clinicians, industrial entities, and regulatory bodies are paramount. With continued research and innovation, 3D printing is poised to redefine the trajectories of biomedical science and patient-centric care. The paper aims to justify the research objective of whether to what extent the integration of 3D printing technology in biomedicine enhances patient-specific treatment and contributes to improved healthcare outcomes

Integrated Methodologies and Technologies for the Design of Advanced Biomedical Devices

Biomedical devices with tailored properties were designed using advanced methodologies and technologies. In particular, design for additive manufacturing, reverse engineering, material selection, experimental and theoretical analyses were properly integrated. The focus was on the design of: i) 3D additively manufactured hybrid structures for cranioplasty; ii) technical solutions and customized prosthetic devices with tailored properties for skull base reconstruction after endoscopic endonasal surgery; iii) solid-lattice hybrid structures with optimized properties for biomedical applications. The feasibility of the proposed technical solutions was also assessed through virtual and physical models

A Topology of Shared Control Systems—Finding Common Ground in Diversity

Shared control is an increasingly popular approach to facilitate control and communication between humans and intelligent machines. However, there is little consensus in guidelines for design and evaluation of shared control, or even in a definition of what constitutes shared control. This lack of consensus complicates cross fertilization of shared control research between different application domains. This paper provides a definition for shared control in context with previous definitions, and a set of general axioms for design and evaluation of shared control solutions. The utility of the definition and axioms are demonstrated by applying them to four application domains: automotive, robot-assisted surgery, brain–machine interfaces, and learning. Literature is discussed for each of these four domains in light of the proposed definition and axioms. Finally, to facilitate design choices for other applications, we propose a hierarchical framework for shared control that links the shared control literature with traded control, co-operative control, and other human–automation interaction methods. Future work should reveal the generalizability and utility of the proposed shared control framework in designing useful, safe, and comfortable interaction between humans and intelligent machines

Advanced Applications of Rapid Prototyping Technology in Modern Engineering

Rapid prototyping (RP) technology has been widely known and appreciated due to its flexible and customized manufacturing capabilities. The widely studied RP techniques include stereolithography apparatus (SLA), selective laser sintering (SLS), three-dimensional printing (3DP), fused deposition modeling (FDM), 3D plotting, solid ground curing (SGC), multiphase jet solidification (MJS), laminated object manufacturing (LOM). Different techniques are associated with different materials and/or processing principles and thus are devoted to specific applications. RP technology has no longer been only for prototype building rather has been extended for real industrial manufacturing solutions. Today, the RP technology has contributed to almost all engineering areas that include mechanical, materials, industrial, aerospace, electrical and most recently biomedical engineering. This book aims to present the advanced development of RP technologies in various engineering areas as the solutions to the real world engineering problems

A parametric modeling concept for predicting biomechanical compatibility in total hip arthroplasty

This work attempts to predict the long-term outcome of total hip arthroplasty based on available patient-specific information and possible installation positions of the prosthesis. For this purpose, a holistic modeling approach for the numerical simulation of osseointegration and long-term stability of endoprostheses, including possible prosthesis positions, is developed. In addition, new, efficient, and reliable methods for the numerical description of adaptive bone remodeling and osseointegration are proposed: The adaptive bone remodeling is described as a geometric-linear, material-nonlinear finite element model, following thermodynamically consistent material modeling guidelines. The resulting constitutive equations are expanded to describe osseointegration and transferred into a contact interface between bone and prosthesis. Finally, the results are projected to an imaging format that is easier to interpret for medical professionals, using a newly developed simulation for X-ray images. The inclusion of possible prosthesis positions spans an infinite-dimensional event space. Therefore, the model is reduced to a finite-dimensional surrogate model sampled with an adaptive sparse-grid collocation method. Without clinical validation, reliable statements cannot be made, and therefore the numerical examples given in this thesis can be regarded as proof of correct implementation and feasibility studies. This dissertation thus provides an answer to how much computational effort is required to provide a real digital decision aid in orthopedic surgery