Recent trends, technical concepts and components of computer-assisted orthopedic surgery systems: A comprehensive review

Computer-assisted orthopedic surgery (CAOS) systems have become one of the most important and challenging types of system in clinical orthopedics, as they enable precise treatment of musculoskeletal diseases, employing modern clinical navigation systems and surgical tools. This paper brings a comprehensive review of recent trends and possibilities of CAOS systems. There are three types of the surgical planning systems, including: systems based on the volumetric images (computer tomography (CT), magnetic resonance imaging (MRI) or ultrasound images), further systems utilize either 2D or 3D fluoroscopic images, and the last one utilizes the kinetic information about the joints and morphological information about the target bones. This complex review is focused on three fundamental aspects of CAOS systems: their essential components, types of CAOS systems, and mechanical tools used in CAOS systems. In this review, we also outline the possibilities for using ultrasound computer-assisted orthopedic surgery (UCAOS) systems as an alternative to conventionally used CAOS systems.Web of Science1923art. no. 519

Injury and Skeletal Biomechanics

This book covers many aspects of Injury and Skeletal Biomechanics. As the title represents, the aspects of force, motion, kinetics, kinematics, deformation, stress and strain are examined in a range of topics such as human muscles and skeleton, gait, injury and risk assessment under given situations. Topics range from image processing to articular cartilage biomechanical behavior, gait behavior under different scenarios, and training, to musculoskeletal and injury biomechanics modeling and risk assessment to motion preservation. This book, together with "Human Musculoskeletal Biomechanics", is available for free download to students and instructors who may find it suitable to develop new graduate level courses and undergraduate teaching in biomechanics

Dynamic modelling of articulated figures suitable for the purpose of computer animation

The animation of articulated bodies presents interest in the areas of biomechanics, sports, medicine and the entertainment industry. Traditional motion control methods for these bodies, such as kinematics and rotoscoping are either expensive to use or very laborious. The motion of articulated bodies is complex mostly because of their number of articulations and the diversity of possible motions. This thesis investigates the possibility of using dynamic analysis in order to define the motion of articulated bodies. Dynamic analysis uses physical quantities such as forces, torques and accelerations, to calculate the motion of the body. The method used in this thesis is based upon the inverse Lagrangian dynamics formulation, which, given the accelerations, velocities and positions of each of the articulations of the body, finds the forces or torques that are necessary to generate such motion. Dynamic analysis offers the possibility of generating more realistic motion and also of automating the process of motion control. The Lagrangian formulation was used first in robotics and thus the necessary adaptations for using it in computer animation are presented. An analytical method for the calculation of ground reaction forces is also derived, as these are the most important external forces in the case of humans and the other animals that are of special interest in computer animation. The application of dynamic analysis in bipedal walking is investigated. Two models of increasing complexity are discussed. The issue of motion specification for articulated bodies is also examined. A software environment, Solaris, is described which includes the facility of dynamic and kinematic motion control for articulated bodies. Finally, the advantages and problematics of dynamic analysis with respect to kinematics and other methods are discussed

Climbing and Walking Robots

With the advancement of technology, new exciting approaches enable us to render mobile robotic systems more versatile, robust and cost-efficient. Some researchers combine climbing and walking techniques with a modular approach, a reconfigurable approach, or a swarm approach to realize novel prototypes as flexible mobile robotic platforms featuring all necessary locomotion capabilities. The purpose of this book is to provide an overview of the latest wide-range achievements in climbing and walking robotic technology to researchers, scientists, and engineers throughout the world. Different aspects including control simulation, locomotion realization, methodology, and system integration are presented from the scientific and from the technical point of view. This book consists of two main parts, one dealing with walking robots, the second with climbing robots. The content is also grouped by theoretical research and applicative realization. Every chapter offers a considerable amount of interesting and useful information

Recent Advances in Laparoscopic Surgery

The implementation of laparoscopy has revolutionized surgery over the past few years, incorporating significant benefits for the patient. However, this evolution has also entailed many technical obstacles for surgeons. This book is for readers wanting to learn more about recent surgical techniques and technologies. Topics cover novel sophisticated approaches for single-site surgery, natural orifice transluminal endoscopic surgery, and transanal surgery, among others. Also included are reviews of new innovative surgical devices, robotic platforms, and methodological guidelines for improving surgical performance and surgeon ergonomics

Medical Robotics

The first generation of surgical robots are already being installed in a number of operating rooms around the world. Robotics is being introduced to medicine because it allows for unprecedented control and precision of surgical instruments in minimally invasive procedures. So far, robots have been used to position an endoscope, perform gallbladder surgery and correct gastroesophogeal reflux and heartburn. The ultimate goal of the robotic surgery field is to design a robot that can be used to perform closed-chest, beating-heart surgery. The use of robotics in surgery will expand over the next decades without any doubt. Minimally Invasive Surgery (MIS) is a revolutionary approach in surgery. In MIS, the operation is performed with instruments and viewing equipment inserted into the body through small incisions created by the surgeon, in contrast to open surgery with large incisions. This minimizes surgical trauma and damage to healthy tissue, resulting in shorter patient recovery time. The aim of this book is to provide an overview of the state-of-art, to present new ideas, original results and practical experiences in this expanding area. Nevertheless, many chapters in the book concern advanced research on this growing area. The book provides critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies. This book is certainly a small sample of the research activity on Medical Robotics going on around the globe as you read it, but it surely covers a good deal of what has been done in the field recently, and as such it works as a valuable source for researchers interested in the involved subjects, whether they are currently “medical roboticists” or not

Estimació basada en CNN de la cinemàtica de les extremitats inferiors durant la neurorrehabilitació assistida per robot.

[ES] El sistema VEMOTION, desarrollado por Reactive Robotics GmbH, consiste en un sistema robótico de rehabilitación de pacientes con problemas de movilidad. El objetivo principal de este estudio es capturar los datos de movimiento del humano para desarrollar un modelo cinemático basado únicamente en la información de los sensores del dispositivo robótico, utilizando un enfoque basado en redes neuronales convolucionales.[EN] The VEMOTION system, developed by Reactive Robotics GmbH, consists of a robotic system-based rehabilitation of patients with mobility impairments. The main objective of this study is to capture the motion data of the human to develop a kinematic model based only on the sensor information of the robotic device, using a CNN-based approach.Vidal Solano, L. (2022). CNN-Based estimation of lower extremity kinematics during robot-based neurorehabilitation. Universitat Politècnica de València. http://hdl.handle.net/10251/19044

Design, implementation and control of an overground gait and balance trainer with an active pelvis-hip exoskeleton

Human locomotion is crucial for performing activities of daily living and any disability in gait causes a significant decrease in the quality of life. Gait rehabilitation therapy is imperative to improve adverse effects caused by such disabilities. Gait therapies are known to be more effective when they are intense, repetitive, and allow for active involvement of patients. Robotic devices excel in performing repetitive gait rehabilitation therapies as they can eliminate the physical burden of the therapist, enable safe and versatile training with increased intensity, while allowing quantitative measurements of patient progress. Gait therapies need to be applied to specific joints of patients such that the joints work in a coordinated and repetitious sequence to generate a natural gait pattern. Six determinants of gait pattern have been identified that lead to efficient locomotion and any irregularities in these determinants result in pathological gaits. Three of these six basic gait determinants include movements of the pelvic joint; therefore, an effective gait rehabilitation robot is expected to be capable of controlling the movements of the human pelvis. We present the design, implementation, control, and experimental verification of AssistOn-Gait, a robot-assisted trainer, for restoration and improvement of gait and balance of patients with disabilities affecting their lower extremities. In addition to overground gait and balance training, AssistOn-Gait can deliver pelvis-hip exercises aimed to correct compensatory movements arising from abnormal gait patterns, extending the type of therapies that can be administered using lower extremity exoskeletons. AssistOn-Gait features a modular design, consisting of an impedance controlled, self-aligning pelvis-hip exoskeleton, supported by a motion controlled holonomic mobile platform and a series-elastic body weight support system. The pelvis-hip exoskeleton possesses 7 active degrees of freedom to independently control the rotation of the each hip in the sagittal plane along with the pelvic rotation, the pelvic tilt, lateral pelvic displacement, and the pelvic displacements in the sagittal plane. The series elastic body weight support system can provide dynamic unloading to support a percentage of a patient's weight, while also compensating for the inertial forces caused by the vertical movements of the body. The holonomic mobile base can track the movements of patients on flat surfaces, allowing patients to walk naturally, start/stop motion, vary their speed, sidestep to maintain balance, and turn to change their walking direction. Each of these modules can be used independently or in combination with each other, to provide different configurations for overground and treadmill based training with and without dynamic body weight support. The pelvis-hip exoskeleton of AssistOn-Gait is constructed using two passively backdrivable planar parallel mechanisms connected to the patient with a custom harness, to enable both passive movements and independent active impedance control of the pelvis-hip complex. Furthermore, the exoskeleton is self-aligning; it can automatically adjust the center of rotation of its joint axes, enabling an ideal match between patient's hip rotation axes and the device axes in the sagittal plane. This feature not only guarantees ergonomy and comfort throughout the therapy, but also extends the usable range of motion for the hip joint. Moreover, this feature significantly shortens the setup time required to attach the patient to the exoskeleton. The exoskeleton can also be used to implement virtual constraints to ensure coordination and synchronization between various degrees of freedom of the pelvis-hip complex and to assist patients as-needed for natural gait cycles. The overall kinematics of AssistOn-Gait is redundant, as the exoskeleton module spans all the degrees of freedom covered by the mobile platform. Furthermore, the device features dual layer actuation, since the exoskeleton module is designed for force control with good transparency, while the mobile base is designed for motion control to carry the weight of the patient and the exoskeleton. The kinematically redundant dual layer actuation enables the mobile base of the system to be controlled using workspace centering control strategy without the need for any additional sensors, since the patient movements are readily measured by the exoskeleton module. The workspace centering controller ensures that the workspace limits of the exoskeleton module are not reached, decoupling the dynamics of the mobile base from the dynamics of the exoskeleton. Consequently, AssistOn-Gait possesses virtually unlimited workspace, while featuring the same output impedance and force rendering performance as its exoskeleton module. The mobile platform can also be used to generate virtual fixtures to guide patient movements. The ergonomy and useability of AssistOn-Gait have been tested with several human subject experiments. The experimental results verify that AssistOn-Gait can achieve the desired level of ergonomy and passive backdrivability, as the gait patterns with the device in zero impedance mode are shown not to significantly deviate from the natural gait of the subjects. Furthermore, virtual constraints and force-feedback assistance provided by AssistOn-Gait have been shown to be adequate to ensure repeatability of desired corrective gait patterns

Advances in Minimally Invasive Surgery

The minimally invasive approach in medicine is one of the most common areas of interest in surgery.Advances in Minimally Invasive Surgery describes the latest trends, indications, techniques, and approaches in minimally invasive surgery. It provides step-by-step instructions for both routine and diagnostic procedures via illustrations and video collection