슬관절 전치환술 보조를 위한 수술로봇 기구부의 설계

Total Knee Arthroplasty is a surgery of replacing a knee joint with artificial implants. The objectives of the surgery is to restore and correct the lower limb mechanical axis and alleviate pain in the knee joint. Various robotic systems have been proposed to accomplish high accuracy of the alignment of the lower limb mechanical axis and therefore precise cutting of the femur and tibia. These robotic systems for TKA have drawbacks such as increased surgery time and limitation of surgeon’s direct intervention. These drawbacks mainly arises from using the end mill for the cut and adopting an automated scheme of the process. We propose a novel surgical robotic platform that is able to effectively guide the surgeons during TKA. The robotic platform accurately locates the planes of cut and positions the cutting jig. Surgeons use the oscillating saw which they have been using in the conventional surgery, thus the user experiences the familiar force feedback when making the cut, while greatly reducing the load of human resources and surgery time.