Modeling and Development of a Robotized Hand-Hold Bone Cutting Device

Abstract

Many surgical operations such as Total knee arthroplasty (TKA) and Total hip arthroplasty (THA) as well as bone fracture reposition require bone cutting manipulations. We have been developing a two degree of freedom robotized bone cutting hand-hold device. It is intended to execute cutting operation in order to avoid problems as accuracy errors, overheating and to obtain smooth bone surface. Surgeons have to orientate and hold the cutting robot, maintaining the contact with the bone during the operation all the time while the device executes manipulation automatically. Dynamical model based on graph theory and the orthogonally principle is derived for considered electromechanical system. Design of the mechanical part of bone cutting robotized device is provided