Robotic-assisted burring in total hip replacement: A new surgical technique to optimise acetabular preparation.

Li, T; Walker, P; Khonasty, R; van de Graaf, VA; Yelf, E; Zhao, L; Huang, S

Robotic-assisted burring in total hip replacement: A new surgical technique to optimise acetabular preparation.

Li, T Walker, P Khonasty, R van de Graaf, VA Yelf, E Zhao, L

Huang, S

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Publisher:: WILEY
Publication Type:: Journal Article
Citation:: Int J Med Robot, 2024, 20, (1), pp. e2615
Issue Date:: 2024-02

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Field	Value	Language
dc.contributor.author	Li, T
dc.contributor.author	Walker, P
dc.contributor.author	Khonasty, R
dc.contributor.author	van de Graaf, VA
dc.contributor.author	Yelf, E
dc.contributor.author	Zhao, L https://orcid.org/0000-0003-4063-8183
dc.contributor.author	Huang, S https://orcid.org/0000-0002-6124-4178
dc.date.accessioned	2025-02-04T22:24:53Z
dc.date.available	2023-12-12
dc.date.available	2025-02-04T22:24:53Z
dc.date.issued	2024-02
dc.identifier.citation	Int J Med Robot, 2024, 20, (1), pp. e2615
dc.identifier.issn	1478-5951
dc.identifier.issn	1478-596X
dc.identifier.uri	http://hdl.handle.net/10453/184962
dc.description.abstract	BACKGROUND: In Total Hip replacement (THR) surgery, a critical step is to cut an accurate hemisphere into the acetabulum so that the component can be fitted accurately and obtain early stability. This study aims to determine whether burring rather than reaming the acetabulum can achieve greater accuracy in the creation of this hemisphere. METHODS: A preliminary robotic system was developed to demonstrate the feasibility of burring the acetabulum using the Universal Robot (UR10). The study will describe mechanical design, robot trajectory optimisation, control algorithm development, and results from phantom experiments compared with both robotic reaming and conventional reaming. The system was also tested in a cadaver experiment. RESULTS: The proposed robotic burring system can produce a surface in 2 min with an average error of 0.1 and 0.18 mm, when cutting polyurethane bone block #15 and #30, respectively. The performance was better than robotic reaming and conventional hand reaming. CONCLUSION: The proposed robotic burring system outperformed robotic and conventional reaming methods to produce an accurate acetabular cavity. The findings show the potential usage of a robotic-assisted burring in THR for acetabular preparation.
dc.format	Print
dc.language	eng
dc.publisher	WILEY
dc.relation.ispartof	Int J Med Robot
dc.relation.isbasedon	10.1002/rcs.2615
dc.rights	info:eu-repo/semantics/openAccess
dc.subject	1103 Clinical Sciences
dc.subject.classification	Surgery
dc.subject.classification	3202 Clinical sciences
dc.subject.classification	4007 Control engineering, mechatronics and robotics
dc.subject.classification	4601 Applied computing
dc.subject.mesh	Humans
dc.subject.mesh	Acetabulum
dc.subject.mesh	Arthroplasty, Replacement, Hip
dc.subject.mesh	Robotic Surgical Procedures
dc.subject.mesh	Hip Prosthesis
dc.subject.mesh	Robotics
dc.subject.mesh	Acetabulum
dc.subject.mesh	Humans
dc.subject.mesh	Arthroplasty, Replacement, Hip
dc.subject.mesh	Hip Prosthesis
dc.subject.mesh	Robotics
dc.subject.mesh	Robotic Surgical Procedures
dc.subject.mesh	Humans
dc.subject.mesh	Acetabulum
dc.subject.mesh	Arthroplasty, Replacement, Hip
dc.subject.mesh	Robotic Surgical Procedures
dc.subject.mesh	Hip Prosthesis
dc.subject.mesh	Robotics
dc.title	Robotic-assisted burring in total hip replacement: A new surgical technique to optimise acetabular preparation.
dc.type	Journal Article
utslib.citation.volume	20
utslib.location.activity	England
utslib.for	1103 Clinical Sciences
pubs.organisational-group	University of Technology Sydney
pubs.organisational-group	University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	University of Technology Sydney/UTS Groups
pubs.organisational-group	University of Technology Sydney/UTS Groups/Robotics Institute (RI)
pubs.organisational-group	University of Technology Sydney/UTS Groups/Robotics Institute (RI)/Robotics Institute (RI) Associate Members
utslib.copyright.status	open_access	*
dc.rights.license	This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License (CC BY-NC 4.0). To view a copy of this license, visit https://creativecommons.org/licenses/by-nc/4.0/
dc.date.updated	2025-02-04T22:24:49Z
pubs.issue	1
pubs.publication-status	Published
pubs.volume	20
utslib.citation.issue	1

Abstract:

BACKGROUND: In Total Hip replacement (THR) surgery, a critical step is to cut an accurate hemisphere into the acetabulum so that the component can be fitted accurately and obtain early stability. This study aims to determine whether burring rather than reaming the acetabulum can achieve greater accuracy in the creation of this hemisphere. METHODS: A preliminary robotic system was developed to demonstrate the feasibility of burring the acetabulum using the Universal Robot (UR10). The study will describe mechanical design, robot trajectory optimisation, control algorithm development, and results from phantom experiments compared with both robotic reaming and conventional reaming. The system was also tested in a cadaver experiment. RESULTS: The proposed robotic burring system can produce a surface in 2 min with an average error of 0.1 and 0.18 mm, when cutting polyurethane bone block #15 and #30, respectively. The performance was better than robotic reaming and conventional hand reaming. CONCLUSION: The proposed robotic burring system outperformed robotic and conventional reaming methods to produce an accurate acetabular cavity. The findings show the potential usage of a robotic-assisted burring in THR for acetabular preparation.

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http://hdl.handle.net/10453/184962