The Robotics Institute

RI | Seminar | Jan 18 2008

Robotics Institute Seminar, Jan 18, 2008
Time and Place | Seminar Abstract | Speaker Biography | Speaker Appointments


Bone Mounted Surgical Robot

 

Sam S. Song

Institute for Computer Assisted Surgery
The Western Pennsylvania Hospital
 

Modeling of Knee Kinematics

 

Patty Murtha
Institute for Computer Assisted Surgery
The Western Pennsylvania Hospital

 

Time and Place

 

Mauldin Auditorium (NSH 1305 )

Time: 3:30 to 4:30 pm

 

Abstract

 

Bone Mounted Surgical Robot

 

A small bone mounted surgical robot is being developed for patella-femoral joint replacement surgery. Originally, a typical Stewart platform robot was designed, which is mounted on distal femur and holding a high speed surgical drill at the center of the parallel robot structure. To enhance accessibility and reduce complexity, the second generation was built as a 3-link open structure parallel robot. Recently, the third generation is being developed with an optimized kinematic configuration, which would provide greater structural rigidity and minimal invasiveness.

 

 

Modeling of Knee Kinematics

 

The knee is the largest and one of the most complex joint structures of the human body.  Kinematic models that predict the motion of the tibia relative to the femur for specific anatomical configurations can be used to plan and evaluate the likely outcome of clinical procedures such as ligament reconstruction and total knee replacement.  These models can also be used to evaluate and improve prosthetic knee designs.  In order to develop a kinematic model, we optically tracked the motion of the tibia and femur of five cadaveric specimens while orthopaedic surgeons administered a series of standard clinical exams.  The experiment was designed to investigate the double-bundle model of the Anterior Cruciate Ligament (ACL).  This presentation will examine what we learned about the 6 DOF motion of the knee joint and the ligaments for healthy, ACL-deficient, and reconstructed knees, and the efficacy of the standard clinical exams.

 

Speaker Biography

 

Sam S. Song

 

Sam Song received his Bachelor: Mechanical Engineering, University of Ulsan, Korea, MS in Mechanical Systems Engineering from University of

Liverpool, UK and PhD: in Medical Robotics from  Imperial College London, UK. After receiving his PhD he was a PostDoc: Neuromotor Control Lab,

University of British Columbia, Canada and is present:ly a Research Scientist at Institute for Computer Assisted Surgery at the Western Pennsylvania Hospital.

 

Patty Murtha

 

Patty Murtha received a B.S. in Geophysics from St. Louis University in 1978, M.A. in Geophysics from the University of California at Berkeley in 1980, and Ph.D. in 1985.  She has worked as a senior research scientist with ARCO Oil and Gas Company in Plano, Texas, a software engineer for SMV and GE Medical Systems in Twinsburg, Ohio, and is currently a research scientist at the Institute for Computer Assisted Orthopaedic Surgery at the Western Pennsylvania Hospital.  Her research interests include medical image processing and computer assisted surgery.

 

 

Speaker Appointments

 

For appointments, please contact Branislav Jaramaz(branko@icaos.org)


The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.