Control performance of a motion controller for robot-assisted surgery

摘要

Total Knee/Hip Replacement(TKR/THR) is one of the most important orthopedic surgical techniques of this century. If patient's whole joint is damaged, an artificial joint (total hip/knee replacement surgery) can relieve patient's pain and help the patient get back normal activities. The goal for TKR/THR is to relieve the pain in the joint caused by the damage done to the cartilage. The surgeon will replace the damaged parts of the joint. For example, in an arthritic knee the damaged ends of the bones and cartilage are replaced with metal and plastic surfaces that are shaped to restore knee movement and function. In an arthritic hip, the damaged ball (the upper end of the femur) is replaced by a metal ball attached to a metal stem fitted into the femur, and a plastic socket is implanted into the pelvis, replacing the damaged socket. Using the “new” joint shortly after the operation is strongly encouraged. After a TKR/TRH, patient will often stand and begin walking the day after surgery.