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BRIGIT: A Robotized Tool Guide for Orthopedic Surgery

Pierre Maillet 1 Bertin Nahum 1 Lucien Blondel 1 Philippe Poignet 2 Etienne Dombre 2
2 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : The BRIGIT project (Bone Resection Instrument Guidance by Intelligent Telemanipulator) aims at developing a surgical robot for orthopedic surgery. This robot should be used as a positioner of a guide providing a mechanical support during bone sawing or drilling. The planned position of the guide is obtained after a registration procedure consisting in collecting anatomical landmarks on the surface of the patient's bone. This can be done in a cooperative mode, by grabbing the tool tip, through an appropriate force control, or in a teleoperated mode via a master device. In order to facilitate the installation of the robot in the operating theatre and to improve its performance, a procedure based on interval analysis has been developed to optimize the robot placement with respect to the patient, the surgical staff, and the obstacles of the environment.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00105994
Contributor : Christine Carvalho de Matos <>
Submitted on : Friday, October 13, 2006 - 10:22:44 AM
Last modification on : Wednesday, June 24, 2020 - 12:18:02 PM

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Pierre Maillet, Bertin Nahum, Lucien Blondel, Philippe Poignet, Etienne Dombre. BRIGIT: A Robotized Tool Guide for Orthopedic Surgery. ICRA: International Conference on Robotics and Automation, Apr 2005, Barcelona, Spain. pp.211-216, ⟨10.1109/ROBOT.2005.1570121⟩. ⟨lirmm-00105994⟩

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