Simulation of Robotic Arm for Spine Surgery Based on Pre-Operative Planning
U. Saranya1, A.N. Nithyaa2 saran.saki21@gmail.com 1, nithyaa.an@rajalakshmi.edu.in 2
Department of Biomedical Engineering, Rajalakshmi Engineering College, Chennai
Abstract: Disc prolapsed is the disorder in vertebrae which affects the spinal cord passing through it. It commonly occurs in lumbosacral region, which entraps the spine nerve at that point. Any damage to the motor and sensory nerve at that point has a direct effect on that particular organ connected with that ascending and descending tract. Disc prolapsed in thoracic region lead either to nerve root irritation or cord compression and it needs immediate surgery to cut away the disc lesion.
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The mechanical systems can be modeled with a suite of tools to specify bodies and their mass properties, possible motions, kinematic constraints, and coordinate systems. To get the dynamic model of the robot the following blocks related to CAD model are used. Revolute joint represents one rotational degree of freedom. The follower body rotates relative to the base body about a single rotational axis going through collected body coordinate system origins. Sensor actuator ports are added to the joint. Body replaces fixed rigid bodies among which the degrees of freedom are added. Joint actuator actuates a joint permitive with generalized force, torque or linear, angular position, velocity, and acceleration motion signals. Joint sensor measures linear, angular position, velocity, acceleration, computed force, torque of the joint primitive. Body sensor measures the motion of the body coordinate system to which the sensor is connected. This also measures any combination of translational position, velocity and angular acceleration. Scopes are connected to the joint sensors and body sensor. Blocks connected according to the physical model and control model of the robotic arm is
DOI: 4/16/2012. Patient is a 29-year-old male technician who sustained injury when he was 25-feet up on a ladder when the ladder slid and he fell onto the pavement. He had an open reduction internal fixation (ORIF x 2) for a compound tibia fibula fracture and had hardware removal in 4/25/2013. MRI of the lumbar spine performed on 3/24/2016 revealed L5-S1 small right paracentral disc protrusion without significant spinal canal stenosis or neuroforaminal narrowing.
Dr. Kristen Radcliff - Spinal Surgeon with the Rothman Institute An experienced physician who holds certification through the American Board of Orthopaedic Surgery, Dr. Kristen Radcliff holds a cum laude BS in biology from Harvard University and an MD from the Duke University School of Medicine. She completed a residency through the Department of Orthopedic Surgery at the Baylor College of Medicine and a spinal cord injury and spine surgery fellowship through Thomas Jefferson University. In addition to her fellowship at Thomas Jefferson, Kristen Radcliff, MD, served appointments at the University as both an associate professor of orthopedic surgery and an associate professor of neurological surgery. Since 2020, Dr. Kristen Radcliff has treated
DOI: 07/17/2013. This is a 25-year-old female cashier who incurred injury to her low back when she missed a step and fell off a ladder while stocking sleeping bags. MRI of the lumbar spine dated 10/03/2013 revealed broad based central disc protrusion at L4-L5; moderate discogenic edema along endplates at L4-5; and broad bulge with a central annual tear at L5-S1. CT scan of the lumbar spine dated 01/08/2014 revealed that at L3, bilateral pars interarticularis defects are seen with sclerotic margins. The vertebrae at L3-4 are normal in present on the prior MRI.
The farming industry is all about sustainability and production. Farmers provides care to plants and making sure they receive the right amount of care in hopes that they will cultivate enough product that can be distributed around the world. The agricultural revolution which took place between 1860 and 1910 help push the industry forward by providing ways with technology to increase the rate of production by evolving from hand labor to machine labor. The goal of this research is to help push robotics into agriculture. With autonomous robots it will provide a way maintain order and consistency.
In the non-fiction article, “Let the Robot Drive”, by Tom Vanderbilt the objective summary is about the pros and con of the future of driving. Tom Vanderbilt explains that driving has quickly changed from manual to autonomous abilities and that this quick growth in a car’s ability, will allow for cars to become smarter in the future. In addition, these autonomous abilities will be better than the human driver in every way. Tom believes this will lead to many positives and negatives for cars and their drivers. For drivers, the believed goal is to distance themselves from active engagement in operating vehicles which allows for more safety.
From these functions, the required data needed was inclination, angular velocity and linear acceleration. For inclination, we directly used the Euler vector function which gives data in 0-359 ͦ. For angular velocity, vector gyroscope function was used. This function directly gives data in rad⁄sec which was required for finding angular velocity of the sensor. Finally, for linear acceleration, function called vector linear acceleration was used. Figure below shows the VECTOR-EULER function used for getting the required inclination values from the sensor.
A 31-year-old male patient developed an inclusion cyst on the left side of his next that required excision. The 6-cm cyst was located below the fascia involve an entire dissection of the tumor from the sub fascia; closure of deep fascia with 3-0 Vicryl; skin closed with 4-0 Maxon. Steri-strips were applied. a.) 21556 b.) 11426, 12042-59 c.) 11426 d.) 21557 18. A 59-year-old female patient with thoracic vertebral fractures of the spine presents for a percutaneous vertebroplasty.
Chiropractic is a system of treating disease by manipulation of the vertebral column. Chiropractic is based on the theory that most diseases are caused by pressure on the nerves because of faulty alignment of the spine. Therefore, nerves are blocked from transmitting to various organs of the body the neural impulses for proper functioning. Meanwhile, Western medicine has not accepted this theory as a scientific fact yet has accepted it as a complementary treatment for certain back conditions to ease the pain.
Little motor mechanics perform routine upkeep minds gear to lessen the quantity of breakdowns. Amid these execution checks, mechanics assess brakes, electrical frameworks, sparkle attachments, carburetors, and fuel frameworks. Fundamental repairs or substitutions are set aside a few minutes. While breaking down hardware is brought into a shop, a technician must analyze the issue. Bigger shops use automated symptomatic apparatuses to decide the inconvenience spot.
Such robots are created with the aim of interacting with and assisting people in daily tasks. To do so, they are equipped with
The purpose of a prosthesis limb is to undertake the functions and appearance of a missing limb. There is a range of artificial limbs that are created, however the actual fact is that they're either simply a prosthetic limb that provides a additional natural appearance. while the opposite choice is additional mechanical which the main priority is to be as practical as possible; there's one piece of technology that has been recently created which has each factor within the technology. Myoelectric prosthesis limbs are the perfect technology; the aim for this technology is to share equally the needs of practicality and cosmetically, this technology doesn’t need to sacrifice appearance for practicality like most technology is that this field usually
Almost half of a human 's body weight is composed of muscle. There are three distinct types of muscle tissue: cardiac muscle, skeletal muscle, and smooth muscle. Each of the muscle tissues have different structures, properties, characteristics, and roles in our body. Properties of muscle tissues include excitability, contractility, extensibility, and elasticity. Contractility is the ability to shorten, which causes movement of the structures to which the muscles are attached.
Unlike a robot, Baymax can think and make decisions on his own. A team of medical researchers led by a biochemist named Peter Kim who works for the Children’s National Health System have developed a new robot called STAR (Smart Tissue Autonomous Robot). STAR can configure algorithms to decide where and how to place a suture in soft tissue specimens. This means STAR has the ability to calculate the algorithm to decide its next move. Although it is not the fasted method for placing sutures, STAR has produced more precise results than a human surgeon, laparoscopic or robot assistant surgery (Herkewitz, 2016).
Accessibility is a concept that essentially applies to the customization of products, services, appliances and environments in a way that enables them to be used by people who have various types of disabilities. Effectively speaking, these products and services are designed in such a manner that enables people with special needs to gain both ‘direct’ as well as ‘indirect’ access to them. At the same time, the benefits of accessibility also extend to a wider category of individuals such as senior citizens and medical patients. Assistive technology is a term that is closely associated with the concept of accessibility. For instance, the application of assistive technology is what makes electronic equipment such as computer screen readers accessible to all categories of end users, including those with disabilities or special needs.
Many jobs have become easier by being replaced by robots. Robot are not just the idea of talking mechanical parts as we see in futuristic movies. There are a variety of different types of robotic machines, great majority of them appear in factories and in science technology work fields. Robots in factories help replace a dangerous parts of a job. However, there have been different perspective with robots replacing jobs.