Print Email Facebook Twitter Design, Development and Testing of a Navigator to Guide Minimally Invasive Osteotomy Surgery Title Design, Development and Testing of a Navigator to Guide Minimally Invasive Osteotomy Surgery Author Heslinga, M.A. Contributor Hellendoorn, J. (mentor) Faculty Mechanical, Maritime and Materials Engineering Department Delft Center for Systems and Control (DCSC) Programme Systems and Control Project SC52030 Date 2017-04-19 Abstract Corrective osteotomy is the treatment for malunion of bone segments, which is required after insufficient fracture management. To perform this procedure adequately, 3D imaging is used to make a virtual plan of the osteotomy. In order to transfer this virtual plan to the patient in the operating room, a navigation method is required. Existing navigation techniques are able to transfer a virtually planned osteotomy with an accuracy of about one millimetre. Although the existing techniques are accurate, the gross of them require large incisions. In this thesis, a novel navigation technique is developed which transfers a virtually planned osteotomy to the patient in a minimally invasive way. Four concepts are proposed based on existing literature, which are graded using a multi-criteria analysis. The best performing concept is a small robotic system with a rigid connection to the patient, called the ‘Osteobot’. A prototype is developed and successfully controlled using a kinematic model. After the development phase, the navigator is tested in two experiments under different conditions. The outcomes of the first experiment show a resulting translation and rotation error of less than 1 mm and 1⁰, respectively. The motors of the current prototype do not have enough power to limit the workspace of the oscillating saw, which results in a less accurate osteotomy in the second experiment. Nevertheless, the Osteobot looks very promising to be able to perform a non-invasive osteotomy. Taking into account the little time for prototyping during this project, these preliminary results look very encouraging. As confirmed by surgeons, the Osteobot could well become a powerful solution to perform accurate and minimally invasive osteotomy surgery. Subject OsteotomyBone CutRoboticNavigationTransferGuidanceComputer-assisted PlanningVirtual PlanningMinimally InvasiveOrthopaedic Surgery3 DoFStewart PlatformMalunion To reference this document use: http://resolver.tudelft.nl/uuid:8c3d89ff-ea78-44a4-9494-bc86c9b1924f Part of collection Student theses Document type master thesis Rights (c) 2017 Heslinga, M.A. Files PDF mscThesis M.A. Heslinga ... -04-17.pdf 41.9 MB Close viewer /islandora/object/uuid:8c3d89ff-ea78-44a4-9494-bc86c9b1924f/datastream/OBJ/view