A Bone-Mountable Surgical Robot For Total Hip Replacement

摘要

PURPOSE: A bone-mountable surgical robot for THA(Total Hip Arthorplastry) is provided to process accurately a hip joint by performing a processing work according to a predetermined path and controlling a master portion according to a user's judgement. CONSTITUTION: A fixing support portion(100) is fixed to a hip joint. A fixing clamp(120) is fixed to one end of the hip joint. A support portion(140) is combined with one end portion of the fixing clamp(120). The support portion(140) is fixed to a rectangular fixing frame(160). A driving portion(200) is loaded on an upper portion of the fixing frame(160). The driving portion(200) is formed with a couple of servo motors(220), the first actuator(240), and a location sensor(260). The driving portion(200) is combined with a triangular rotating frame(300). A rotating body(280) is combined with the first actuator(240). The second actuator(420) of a processing portion(400) is fixed to a center area of the rotating frame(300) in order to move a milling tool(460) to the vertical direction. A master portion(500) is extended from a connecting rod(480) of the processing portion(400). The master portion(500) includes a power/torque sensor(520).