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Conference Paper

Robotic surgery and planning for corrective femur osteotomy

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Citation

Moctezuma, J., Bernasch, J., Lohmann, G., Schweikard, A., & Gosse, F. (1994). Robotic surgery and planning for corrective femur osteotomy. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) (pp. 870-877). Piscataway, NJ, USA: IEEE Service Center.


Cite as: http://hdl.handle.net/21.11116/0000-0005-FD70-0
Abstract
This paper describes a system that assists in the planning and the performing of a surgical action, namely the corrective osteotomy of the thigh bone (femur). The corrective osteotomy of the thigh bone is used for changing the posture of the hip joint. During surgery, a small cross-sectional slice is cut out of the thigh bone by the use of a sawing device. Our system supports the planning phase of this surgery by allowing interactive visualizations of the cutting planes using a 3D surface-oriented model of the thigh bone derived from computer tomography (CT). It also supports the actual surgery, in which a robot hand is steered towards the predetermined cutting planes, a process that is guided and monitored by a vision system.