During the intramedullary nailing procedure, surgeons feel difficulty in manipulation of the X-ray device to align it to axes of nailing holes and suffer from the large radiation exposure from the X-ray device. These problems are caused by the fact the surgeon cannot see the hole’s location directly and should use the X-ray device to find the hole’s location and direction. In this paper, we proposed the robotic guidance of the distal screwing using an optical tracking system. To track the location of the hole for the distal screwing, the reference marker is attached to the proximal end of an intramedullary nail. To guide the drill’s direction robustly, the 6-degree-of-freedom robotic arm is used. The robotic arm is controlled so as to align the drill guiding tool attached the robotic arm with the obtained the hole’s location. For the safety, the robot’s linear and angular velocities are restricted to the predefined values. The experimental results using the artificial bones showed that the position error and the orientation error were 0.91 mm and 1.64°, respectively. The proposed method is simple and easy to implement, thus it is expected to be adopted easily while reducing the radiation exposure significantly.

1. 서 론
 2. 광학식 측정기반의 금속정 나사체결 구멍위치 획득 알고리즘
  2.1 구멍위치 획득
  2.2 로봇 유도 알고리즘
 3. 실험 및 검증
  3.1 실험세팅
  3.2 정확도 측정 방법
  3.3 실험결과
 4. 결 론
 References

• An Liming(Mechanical Engineering, Chonnam National University)
• 김우영(Mechanical Engineering, Chonnam National University) | Woo Young Kim
• 고성영(Mechanical Engineering, Chonnam National University) | Seong Young Ko Corresponding author