Controlling Robotic Arm Assisted in Knee Surgery Utilizing Artificial Immunity Technique

摘要

This paper present a new developed technique for robotic surgical model with high flexibility used in Total knee replacement surgery (TRK). The proposed model used robot arm assisted technique to play the role of computer-assisted surgery (CAS). Most famous type's orthopedic surgery equipments used navigation system. The system provide surgeon with extra support, as it help to optimize the implant's alignment according to structure of the body. The problem faces this types that the device has to be in fixed position during surgery, which limit the ability of the surgeon. Artificial Immunity System (AIS) technology is utilized to obtain two tasks. First process CT scan images of the patient and help the surgeon to determine the best location to open and angle of operation. Second performing as controller to improve and adjust the output force of the arm. The proposed technique is simulated and tested in different cases. Output obtained from the simulation show satisfactory response.