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The Precision Freehand Sculptor: A ...

Carnegie Mellon University.

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The Precision Freehand Sculptor: A robotic tool for less invasive joint replacement surgery.

Record Type:	Language materials, printed : Monograph/item
Title/Author:	The Precision Freehand Sculptor: A robotic tool for less invasive joint replacement surgery./
Author:	Brisson, Gabriel.
Description:	238 p.
Notes:	Source: Dissertation Abstracts International, Volume: 69-05, Section: B, page: 3246.
Contained By:	Dissertation Abstracts International69-05B.
Subject:	Engineering, Biomedical. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3314659
ISBN:	9780549642794

The Precision Freehand Sculptor: A robotic tool for less invasive joint replacement surgery.
Brisson, Gabriel.

The Precision Freehand Sculptor: A robotic tool for less invasive joint replacement surgery. - 238 p.

Source: Dissertation Abstracts International, Volume: 69-05, Section: B, page: 3246.

Thesis (Ph.D.)--Carnegie Mellon University, 2008.

This thesis presents a tool for less invasive joint replacement surgery. Although many surgical procedures have been converted to endoscopic "keyhole" approaches, joint replacement incisions have changed little in 30 years. Recent efforts to adapt conventional joint replacement instrumentation for less invasive approaches have demonstrated improved short-term outcomes. However, the procedures are more challenging to use accurately and are only suitable for highly skilled surgeons.

ISBN: 9780549642794Subjects--Topical Terms:

1017684
Engineering, Biomedical.

The Precision Freehand Sculptor: A robotic tool for less invasive joint replacement surgery.
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020 $a 9780549642794
035 $a (UMI)AAI3314659
035 $a AAI3314659
040 $a UMI $c UMI
100 1 $a Brisson, Gabriel. $3 1023622
245 1 4 $a The Precision Freehand Sculptor: A robotic tool for less invasive joint replacement surgery.
300 $a 238 p.
500 $a Source: Dissertation Abstracts International, Volume: 69-05, Section: B, page: 3246.
502 $a Thesis (Ph.D.)--Carnegie Mellon University, 2008.
520 $a This thesis presents a tool for less invasive joint replacement surgery. Although many surgical procedures have been converted to endoscopic "keyhole" approaches, joint replacement incisions have changed little in 30 years. Recent efforts to adapt conventional joint replacement instrumentation for less invasive approaches have demonstrated improved short-term outcomes. However, the procedures are more challenging to use accurately and are only suitable for highly skilled surgeons.
520 $a The Precision Freehand Sculptor (PFS) is a handheld intelligent tool designed to enable less invasive joint replacement surgery. A small rotary blade at the tip of a long, slender nose allows the surgeon to shape the bone to accept the implant. The blade can extend and retract behind a guard under computer control. As the surgeon moves the tooltip freehand over the surface of the bone, the computer extends and retracts the blade so that only the appropriate material is removed.
520 $a An optical tracking camera continuously monitors the 3D position of infrared markers attached to the tool and bone. The PFS computer compares the blade's location on the bone to the target shape which it has been instructed to cut. It retracts or extends the blade accordingly. The target shape is specified to mate well with the implant and position the implant for proper biomechanics.
520 $a The PFS has the potential to make less invasive joint replacement accessible to more surgeons without sacrificing accuracy. The computer controlled blade ensures an accurate cut even if the tip of the tool is obscured from view. The long, slender nose is ideal for operating through small incisions. A computer display provides additional guidance to the surgeon when visibility is limited.
520 $a The biggest technical challenge in developing the PFS was cutting accurately enough. This thesis describes how the PFS predicts user motion so that it can begin retraction early to compensate for sensing and actuation latency. We also describe potential sources of inaccuracy and measure them experimentally. Identification of the largest sources of error will guide future development. Examining potential error sources also enhances our understanding of the PFS and can guide design of future PFS tools for other applications.
590 $a School code: 0041.
650 4 $a Engineering, Biomedical. $3 1017684
650 4 $a Engineering, Robotics. $3 1018454
650 4 $a Health Sciences, Medicine and Surgery. $3 1017756
690 $a 0541
690 $a 0564
690 $a 0771
710 2 $a Carnegie Mellon University. $3 1018096
773 0 $t Dissertation Abstracts International $g 69-05B.
790 $a 0041
791 $a Ph.D.
792 $a 2008
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3314659