Project Description
Affecting millions globally, osteoarthritis causes joint damage and pain, primarily in older adults. Rising obesity and aging populations highlight the need for precise surgical solutions. This project aims to develop an AR-assisted robotic system for Total Knee Arthroplasty (TKA) to address the growing prevalence of osteoarthritis. The project integrates robotics and AR to enhance surgical precision, minimize risks, and improve patient outcomes. Core modules include hardware development, perception systems for real-time bone segmentation, surgical planning algorithms, and an AR interface for enhanced surgeon guidance. This innovative approach aims to revolutionize TKA procedures by improving accuracy and addressing the complex challenges posed by osteoarthritis.
Use Case with system Graphical Depiction
The following diagram outlines the workflow for a total knee replacement surgery, highlighting the roles of the surgeon(highlighted in white) and the BONE.P.A.R.T.E. system (highlighted in green).
Advanced Visualization and Planning
The system utilizes Apple Vision Pro to create an immersive surgical environment with real-time visualization of patient data and robotic trajectories. High-resolution displays enable precise spatial registration between virtual models and physical anatomy, while the intuitive AR interface allows surgeons to make real-time surgical plan adjustments while maintaining sterile conditions.
Robotic Precision and Control
Powered by the KUKA LBR Med 7 R800 robotic arm, the system delivers submillimeter accuracy (0.1mm) for surgical pin placement. The control system maintains low latency (<100ms) and rapid motion compensation, executing autonomous drilling operations while continuously monitoring safety parameters. The system achieves consistent precision through advanced trajectory planning and real-time adjustment capabilities.
Real-Time Perception and Safety
Advanced imaging technology generates high-density point clouds of the surgical site, enabling continuous patient tracking and movement compensation. Multiple safety features, including AR-based and physical emergency stops, ensure fail-safe operation. The system adheres to medical robot ISO standards and maintains a target registration error of less than 1mm, while supporting easy sterilization and seamless integration into existing surgical workflows.