Inroads Toward Robot-Assisted Internal Fixation of Bone Fractures Using a Bendable Medical Screw and the Curved Drilling Technique

TL;DR

This paper introduces a minimally invasive, robot-assisted internal fixation method using a bendable screw and curved drilling to improve fracture healing and reduce complications.

Contribution

It presents a novel bendable medical screw and curved drilling technique integrated with a continuum robot for improved fracture fixation.

Findings

The bendable screw can passively morph into curved tunnels.

Finite element simulations validate screw performance.

Experimental results demonstrate effective fixation in synthetic bones.

Abstract

Internal fixation is a common orthopedic procedure in which a rigid screw is used to fix fragments of a fractured bone together and expedite the healing process. However, the rigidity of the screw, geometry of the fractured anatomy (e.g. femur and pelvis), and patient age can cause an array of complications during screw placement, such as improper fracture healing due to misalignment of the bone fragments, lengthy procedure time and subsequently high radiation exposure. To address these issues, we propose a minimally invasive robot-assisted procedure comprising of a continuum robot, called ortho-snake, together with a novel bendable medical screw (BMS) for fixating the fractures. We describe the implementation of a curved drilling technique and focus on the design, manufacturing, and evaluation of a novel BMS, which can passively morph into the drilled curved tunnels with various curvatures. We evaluate the performance and efficacy of the proposed BMS using both finite element simulations as well as experiments conducted on synthetic bone samples.