Robotski potpomognuto bušenje tunela kod rekonstrukcije prednjeg križnog ligamenta koljena

undergraduate thesis

• Title (english): Robotically assisted tunnel placement in ACL reconstruction of the knee
• Author: Ivan Đaković
• Mentor: Marko Švaco (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2024-02-28, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

U sklopu završnog rada napravljen je konceptualni prijedlog rješenja za robotski potpomognutu rekonstrukciju prednjeg križnog ligament koljena. Identificirani su ključni dijelovi operativnog zahvata te je napravljena detaljna tehnička razrada procesa bušenja tunela pomoću robota na femuru i tibiji. U uvodnom dijelu se opisuje područje medicinske robotike te provodi istraživanje trenutnih medicinskih robotskih sustava koji se koriste u ortopedskim operacijama. Uz detaljno opisivanje anatomije koljena i prednjeg križnog ligamenta (ACL) provedena je analiza trenutnog artroskopskog pristupa prilikom operacije. Opisan je tijek operativnog zahvata u svrhu njihove implementacije na robotskom rješenju. Za metodu predoperativne i intraoperativne lokalizacije korišten je NDI Polaris Spectra sustav koji je danas vodilja u svijetu operacija vođenih pomoću kamere te uz to opisan i postupak krute registracije pacijenta. Proveden je idejni plan operativnog zahvata na anonimiziranoj CT snimci stvarnog pacijenta. U sklopu simulacije cijelog operativnog zahvata ali i potrebne analize mogućih robotskih rješenja napravljena je virtualna operacijska sala unutar programa RoboDK. Provedenim simulacijama napravljena je analiza radnog područja robota s predloženim alatom te je prikazom rezultata simulacije dobivena uspješnost pojedinog robota za ostvarivanje koncipiranih kretnji. U sklopu medicinskog laboratorija u CRTA-i napravljen je fizički postav ispred robota KUKA LBR Med 7 R800 te je u stvarnosti implementiran Polaris Spectra sustav. Sve navedene metode koncipirane su u svrhu uspješnog i preciznog bušenja tunela (engl. tunnel placement) s kojim je cilj nekad u budućnosti ostvariti bolje rezultate u području rekonstrukcije ligamenata koljena.

Abstract (english)

Within the scope of the bachelor thesis, a conceptual proposal for a robot-assisted reconstruction of the anterior cruciate ligament (ACL) of the knee was developed. The key parts of the surgical procedure were identified, and a detailed technical elaboration of the tunnel drilling process using robots on the femur and tibia was conducted. The introductory section describes the field of medical robotics and investigates current medical robotic systems used in orthopedic surgeries. Along with a detailed description of the anatomy of the knee and the anterior cruciate ligament (ACL), an analysis of the current arthroscopic approach during surgery was conducted. The course of the surgical procedure is described for the purpose of its implementation in the robotic solution. The NDI Polaris Spectra system, which is a leader in the world of camera-guided operations today, was used for preoperative and intraoperative localization methods, and the process of rigid patient registration is also described. The conceptual plan of the surgical procedure was carried out on an anonymized CT scan of a real patient. As part of simulating the entire surgical procedure and the necessary analysis of possible robotic solutions, a virtual operating room was created within the RoboDK program. Through the conducted simulations, an analysis of the robot's working area with the proposed tool was made, and the results of the simulation showed the effectiveness of each robot in achieving the conceived movements. Within the medical laboratory at CRTA, a physical setup in front of the KUKA LBR Med 7 R800 robot was created, and the Polaris Spectra system was implemented in reality. All the mentioned methods were conceived for the purpose of achieving successful and precise tunnel placement, with the goal of achieving better outcomes in the field of knee ligament reconstruction in the future.

• Keywords: medicinska robotika; prednji križni ligament; lokalizacija; registracija; KUKA LBR Med; RoboDK; ortopedija
• Keywords (english): medical robotics; anterior cruciate ligament; localization; registration; KUKA LBR Med; RoboDK; orthopedics
• Language: croatian
• URN:NBN: urn:nbn:hr:235:075260
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Embargoed access; Embargo expiration date: 2029-02-26
• Created on: 2024-02-26 18:33:02