A Robotic Nondestructive Osteochondral Tissue Harvesting for Autograft Transplantation

4 pages•Published: October 26, 2019

Pradipta Biswas, Sakura Sikander, Pankaj Kulkarni and Sang-Eun Song

Abstract

Osteoarthritis is the degeneration of bone-cartilage. Healthy cartilage absorbs mechanical stress and provides smooth limb movement. Cartilage has poor healing capabilities due to the absence of blood, lymphoid tissue, and nerve that makes treatment of the damaged cartilage difficult, making surgical intervention an inevitable solution. Mosaicplasty is a popular surgical practice involving transplantation of small cylindrical bone-cartilage plugs to refill the lesion. A lack of custom-shaped donor harvesting mechanism makes it impossible to fill the lesion with a single graft. The success of transplanting a customized autograft to replace the osteochondral lesion lies in effective extraction of the autograft from the donor site. Currently, no method exists to harvest such grafts since it requires access to the root side of donor. In this paper, we propose a robotic cartilage-bone removal mechanism to harvest a custom-shaped autograft. Our method involves drilling a profile determined from the lesion to be removed and slicing off the desired cartilage-bone graft from the root. We designed a new graft removal mechanism capable of inserting a thin wire saw and slicing through the root of the prepared profile to extract an intact autograft. The device can be attached to a standard 6- DOF robotic arm that can provide profile drilling and gross positioning of the graft removal device.

Keyphrases: autografting, cartilage, mosaicplasty, osteoarthritis, robotic, transplantation

In: Patrick Meere and Ferdinando Rodriguez Y Baena (editors). CAOS 2019. The 19th Annual Meeting of the International Society for Computer Assisted Orthopaedic Surgery, vol 3, pages 36-39.

Links:	https://easychair.org/publications/paper/HVJx
	https://doi.org/10.29007/3pxz

BibTeX entry

@inproceedings{CAOS2019:Robotic_Nondestructive_Osteochondral_Tissue,
  author    = {Pradipta Biswas and Sakura Sikander and Pankaj Kulkarni and Sang-Eun Song},
  title     = {A Robotic Nondestructive Osteochondral Tissue Harvesting for Autograft Transplantation},
  booktitle = {CAOS 2019. The 19th Annual Meeting of the International Society for Computer Assisted Orthopaedic Surgery},
  editor    = {Patrick Meere and Ferdinando Rodriguez Y Baena},
  series    = {EPiC Series in Health Sciences},
  volume    = {3},
  publisher = {EasyChair},
  bibsource = {EasyChair, https://easychair.org},
  issn      = {2398-5305},
  url       = {/publications/paper/HVJx},
  doi       = {10.29007/3pxz},
  pages     = {36-39},
  year      = {2019}}

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