This article presents the development and experimental evaluation of a redundant robotic system for the less-invasive treatment of osteolysis (bone degradation) behind the acetabular implant during total hip replacement revision surgery. The system comprises a rigid-link positioning robot and a continuum dexterous manipulator (CDM) equipped with highly flexible debriding tools and a fiber Bragg grating (FBG) based sensor. The robot and the continuum manipulator are controlled concurrently via an optimization-based framework using the tip position estimation (TPE) from the FBG sensor as feedback. Performance of the system is evaluated on a setup that consists of an acetabular cup and saw-bone phantom simulating the bone behind the cup. Experiments consist of performing the surgical procedure on the simulated phantom setup. CDM TPE using FBGs, target location placement, cutting performance, and the concurrent control algorithm capability in achieving the desired tasks are evaluated. Mean and standard deviation of the CDM TPE from the FBG sensor and the robotic system are 0.50 and 0.18 mm, respectively. Using the developed surgical system, accurate positioning and successful cutting of desired straight-line and curvilinear paths on saw-bone phantoms behind the cup with different densities are demonstrated. Compared to the conventional rigid tools, the workspace reach behind the acetabular cup is 2.47 times greater when using the developed robotic system.

中文翻译：

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使用配备 FBG 的连续体机械手和灵活器械治疗骨盆骨质溶解的手术机器人系统

本文介绍了冗余机器人系统的开发和实验评估，该系统用于在全髋关节置换翻修手术期间对髋臼植入物后面的骨质溶解（骨质退化）进行微创治疗。该系统包括刚性连接定位机器人和连续灵巧机械手（CDM），配备高度灵活的清创工具和基于光纤布拉格光栅（FBG）的传感器。机器人和连续体机械手通过基于优化的框架同时控制，使用来自 FBG 传感器的尖端位置估计 (TPE) 作为反馈。该系统的性能是在由髋臼杯和模拟髋臼杯后面的骨头的锯骨模型组成的设置上进行评估的。实验包括在模拟体模设置上执行外科手术。评估使用 FBG 的 CDM TPE、目标位置放置、切割性能以及实现所需任务的并发控制算法能力。CDM TPE 与 FBG 传感器和机器人系统的平均值和标准偏差分别为 0.50 和 0.18 毫米。使用开发的手术系统，可以在不同密度的杯子后面的锯骨模型上准确定位并成功切割所需的直线和曲线路径。与传统的刚性工具相比，使用开发的机器人系统时，髋臼杯后面的工作空间范围扩大了 2.47 倍。