Robotic System for Total Hip Arthroplasty Based on Self-Positioning and Grinding

Abstract

Total hip arthroplasty (THA) has limitations in grinding angles, prosthesis placements, and thickness variations. THA robotics offer promise but encounter challenges like manual control of the robotic arm for precise positioning and potential over-grinding when controlled manually. This paper presents a THA surgical robot system with automatic positioning and automatic grinding and filing functions. It achieves precise positioning during the surgery by using the singular value decomposition of initial value screening and sliding mode control(SMC), and ensures uniformity, stability and controlled filing thickness through the designed end grinding and filing actuator system. It has been verified experimentally that the average position errors in the x, y, and z directions are 0.692 mm, 0.512 mm, and 0.66 mm respectively, and the Euclidean distance error is 1.322 mm. The average angle error is less than 1.136°. The end effector can perform automatic grinding according to the predetermined planning value within the safe force threshold of 30 N. This THA surgical robot system can meet the requirements of the hip replacement surgery for the accuracy, driving ability and robustness of the system.

Keywords

total hip arthroplasty (THA) / robotics system / surgical positioning