Division of Biomechanics and Engineering Design
|
Project Name and Acronym |
FWO- Robotics and automation in surgery |
|
Duration |
January 1998 to January 2002 |
|
Web site |
http://www.mech.kuleuven.ac.be/bmgo/research/cas/default.php?lang=en |
|
Sponsoring promoter |
National entity (Fund for Scientific Research – Flanders) |
|
Funding programme |
Fund for Scientific Research – Flanders |
|
Keywords |
Robot assisted surgery, Orthopaedics, Hip and knee joint surgery |
|
Co-ordinating group |
Division of Biomechanics
and Engineering Design (BMGO), K.U.Leuven |
|
Partners (group name, category*) |
Division of Production Engineering, Machine Design and Automation (PMA), K.U.Leuven Division of Orthopaedics, K.U.Leuven |
|
Objectives |
To develop innovative approaches to robot assisted surgery for total knee and hip joint replacement |
|
Relevant activities |
Implementing a hybrid force/velocity control strategy on the Stäubli RX 130 robot; Accuracy studies on human bones, prepared with the robotic system; Research on innovative registration techniques; Research on optimal milling parameters; … |
|
Achieved biomedical robotic prototypes/ products |
Robot-assisted procedure for preparing the tibia in total knee arthroplasty using hybrid force/velocity control (cadaver tests); Set-up for registration of the acetabulum in total hip arthroplasty (tests on bones). Milling tests on cadaver bones for determining the optimal milling parameters |
|
User/clinical trials No clinical trials with the experimental procedures performed so far |
|
|
objectives |
Research on new techniques in robot-assisted knee and hip surgery |
|
robotic systems |
Stäubli RX 130 |
|
methodologies |
Hybrid force/velocity control strategy |
|
involved users (number and category) |
6 (MD, PhD students and master students) |
|
main results |
See publication list |
|
clinical partners |
Division of Orthopaedics of K.U.Leuven |
|
other relevant information |
|
Division of Production Engineering, Machine Design and Automation
|
Project Name and Acronym |
FWO - Telesurgical Manipulator System for Laparoscopic Interventions |
|
Duration |
Jan. 2001 – Dec. 2004 |
|
Web site |
|
|
Sponsoring promoter |
Flemmisch Government |
|
Funding programme |
FWO - Fund for Scientific Research – Flanders |
|
Keywords |
Robotics, Surgery, Telesurgery |
|
Co-ordinating group |
Division of Production Engineering, Machine
Design and Automation (PMA), Division of Biomechanics and Engineering Design
(BMGO), K.U.Leuven |
|
Partners (group name, category*) |
Division of Cardiac Surgery, K.U.Leuven Division of Gynaecology, K.U.Leuven |
|
Objectives |
Development of a telesurgical manipulator system with force feedback for laparoscopic interventions. |
|
Relevant activities |
Design and development of a force/torque sensor at the tool tip; Integration of recent technology (e.g. Phantom 1.5/6DOF, Digitizer Board) in a test setup for telesurgery; Design and development of flexible tool tip. |
|
Achieved biomedical robotic prototypes/ products |
|
|
User/clinical trials |
|
|
objectives |
Research on providing good force feedback to the surgeons during minimal invasive surgery. |
|
robotic systems |
Phantom 1.5/6 DOF Robots at PMA and BMGO (Kuka, Staübli) Storz medical robot Digitizer Board Zeus system at University Hospital Gasthuisberg, K.U.Leuven |
|
methodologies |
|
|
involved users (number and category) |
|
|
main results |
|
|
clinical partners |
Division of Cardiac Surgery, K.U.Leuven Division of Gynaecology, K.U.Leuven |
|
other relevant information |
|
|
Project Name and Acronym |
STWW: sensor-based wheel chair control |
|
Duration |
2 years |
|
Web site |
http://www.mech.kuleuven.ac.be/~mnuttin/stww/index.htm |
|
Sponsoring promoter |
flemmish government |
|
Funding programme |
STWW |
|
Keywords |
wheel chair control |
|
Co-ordinating group |
Division of Production Engineering, Machine
Design and Automation (PMA) |
|
Partners (group name, category*) |
NMSC (national multiple sclerosis centre in Melsbroek) Laboratory of Ergonomics, K.U.Leuven CTG: centre for technology for disabled people UA. |
|
Objectives |
development of control algorithms for shared autonomy |
|
Relevant activities |
building of intelligent wheel chair, user requirements, testing |
|
Achieved biomedical robotic prototypes/ products |
test platform |
|
User/clinical trials |
|
|
objectives |
evaluation of algorithms, user requirements |
|
robotic systems |
wheel chair equipped with DX-system |
|
methodologies |
|
|
involved users (number and category) |
People with paresis, tremor, and various motoric disabilities |
|
main results |
test platform, user requirements, algorithms |
|
clinical partners |
Hospitals of Melsbroek, Pellenberg and Vlezembeek, Hospital De Bijtjes |
|
other relevant information |
|
|
Name |
Short description° |
|
SHARIOTO |
our wheel chair |
|
ZEUS |
Robotic Surgery System of Computer Motion, Inc. |
|
Group name |
Category* |
Contacts |
|
Division of Biomechanics and Engineering Design, K.U.Leuven |
Technological researchers |
Prof. J. Vander Sloten |
|
Division of Production Engineering, Machine Design and Automation, K.U.Leuven |
Technological researchers |
Prof. J. De Schutter
Prof. H. Van
Brussel Ir. Marnix Nuttin
(wheelchair) |
|
CTG: centre for technology for disabled people UA |
Technological researchers |
|
|
Division of Orthopaedics, K.U.Leuven |
Clinical researchers |
Prof. G. Fabry |
|
Division of Cardiac Surgery, K.U.Leuven |
Clinical researchers |
Prof. P. Herijgers |
|
Division of Gynaecology, K.U.Leuven |
Clinical researchers |
Prof. P. Koninckx |
|
Laboratory of Ergonomics, K.U.Leuven |
Clinical researchers |
Prof. dr. ir. A. Spaepen |
|
NMSC: national multiple sclerosis centre in Melsbroek |
Clinical researchers |
|
|
EURON network |
Technological Research |
www.euron.org |
|
Electronic laboratory |
Electronics lab available in house |
|
Mechanical laboratory |
Traditional machines and CNC machines, Rapid Prototyping, … |
|
Software laboratory |
Available in K.U.Leuven In house developed force control software |
|
Robotic equipment |
Staubli RX 130,
JR3 6D force/torque sensor (BMGO), Phantom 1.5/6DOF, Several KUKA’s
6dof, equiped with force/torque sensor, 2 pioneers 2 wheelchairs LiAS, mobile base equipped with force controlled manipulator, …
(PMA) Zeus Robotic
Surgical System (University Hospital Gasthuisberg) |
|
Other |
Measurement Room |
§ Vander Sloten J, Van Audekercke R,
Van der Perre G Robot assisted total knee
arthroplasty enhances the quality of the bone cuts. 11th Conference of the
European Society of Biomechanics, Toulouse, J Biomech 31, Supplement 1: p 26,
juli 1998.
§ Van
Ham G, Denis K, Vander Sloten J, Van Audekercke R, Van der Perre G, De Schutter
J, Aertbeliën E, De Mey S, Bellemans J Machining
and Accuracy Studies for a Tibial Knee Implant, using a force controlled robot.
Computer Aided Surgery, Nr 3,
p 123-133, 1998.
§ Van
Ham G, Denis K, Vander Sloten J, Van Audekercke R, Van der Perre G, De Schutter
J, Aertbeliën E, Bellemans J, Fabry G A
force controlled robot as a surgical tool in Total Knee Arthroplasty. Computer Assisted Radiology and
Surgery, 12th International Congres and Exhibition, Tokyo, p 699-704, 24-27
juni 1998.
§ Denis K, Van Ham G, Vander Sloten J,
Van Audekercke R, Van der Perre G, De Schutter J, Bellemans J Registration of the tibia in robot-assisted
total knee arthroplasty by means of a force-controlled robot. 4th
international symposium on Computer Assisted Orthopaedic Surgery, Davos,
Computer Aided Surgery 4(4):p 228, 17-19 maart 1999.
§ Denis K, Van Ham G, Vander Sloten J,
Van Audekercke R, Van der Perre G, De Schutter J, Bellemans J Accuracy of the registration of the tibia by
means of an intramedullary rod for robot-assisted total knee arthroplasty.
Computer Assisted Radiology and Surgery: 13th International Congres and
Exhibition, Paris, p 1035, 23-26 juni 1999.
§ Van Ham G, Bellemans J, Denis K,
Labey L, Vander Sloten J, Van Audekercke R, Van der Perre G, De Schutter J Accuracy study on the registration of the
tibia by means of an intramedullary rod in robot-assisted total knee
arthroplasty. 46th Annual Meeting of the Orthopaedic Research Society,
Orlando, Florida, p 450, 12-15 maart 2000.
§ Van Ham G, Denis K, Vander Sloten J,
Van Audekercke R, Van der Perre G, De Schutter J, Simon J-P A fast and robust surface matching algorithm
for registering the acetabulum in robot-assisted total hip arthroplasty.
Computer Assisted Radiology and Surgery: 14th International Congres and
Exhibition, San Francisco, p 967, 28 juni-1 juli 2000.
§
Denis
K, Van Ham G, Vander Sloten J, Van Audekercke R, Van der Perre G, De Schutter
J, Kruth J-P, Bellemans J, Fabry G The
effect of milling parameters on temperature rise, milling forces and surface
flatness during the milling of the tibial surface. 12th Conference of the
European Society of Biomechanics, Dublin, p 343, 27-30 augustus 2000
§ Vander Sloten J, Van Ham G, Denis K,
Van Audekercke R, Van der Perre G, De Schutter J, Bellemans J, Fabry G Force control as a means to realize
supervisory control in robot assisted total joint arthroplasty. 1st Annual
Meeting of the International Society for Computer Assisted Orthopaedic Surgery,
8-10 februari 2001.
§
Denis
K, Van Ham G, Vander Sloten J, Van Audekercke R, Van der Perre G, De
Schutter J, Kruth J-P, Bellemans J and Fabry G, Influence of bone milling parameters on the temperature rise, milling
forces and surface flatness in view of robot-assisted total knee arthroplasty.
Computer Assisted Radiology
and Surgery: 15th International Congres and Exhibition, Berlin, 27-30 juni
2001.
* Among: technological developers, technological
researchers, clinical researcher, service providers, users
* Among: technological developers, technological
researchers, clinical researcher, service providers, users
* Among: technological developers, technological
researchers, clinical researcher, service providers, users
° Please insert photographs, if available