Int. J. Com. Dig. Sys. 2, No. 3, 123-128 (2013) 123 © 2013 UOB SPC, University of Bahrain Artificial Immunity Technique in Controlling Robotic Arm Applied in Knee Surgery Marwa Ahmed Department of electrical computer and control, Arab Academy for Science and Technology, Cairo, Egypt E-mail address: en_marwa18@yahoo.com Received 28 Feb. 2013, Revised 27 May 2013, Accepted 30 Jun. 2013, Published 1 Sep. 2013 Abstract: This paper present a new developed technique for robotic surgical model with high flexibility used in Total Knee Replacement (TKR) surgery. 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 optimizing 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. Processing Computer Tomography (CT) scan of the patient in order to be used by AIS considers the first task. In the second task AIS perform as controller to improve and adjust the movement of the robotic arm. The proposed technique is applied and tested for different cases. The proposed technique shows good results in performing TRK surgery. Keywords: Total knee replacement surgery (TKR); Computer-Assisted Surgery (CAS); Artificial immunity System (AIS); Navigation system; Artificial Immunity System Pattern Recognition (AISPR). I. I NTRODUCTION Minimally Invasive Surgery (MIS) is a new trend in medicine that aims at using robots to help surgeon in routine tasks. MIS focused on improved rehabilitation and pain management to accelerate post-surgery recovery. In early 2000 the field of general surgical interventions with the daVinci device was explored by surgeons at Ohio State University [1]-[2]. Total knee replacement (TKR) is type of surgery that used MIS concept. TRK surgery is a common orthopedic procedure to replace damaged articular surfaces of the knee with prosthetic implants. To fit the prosthesis, each of the knee bones (tibia, femur and patella) should be cut to a specific shape to mate the mounting side of the corresponding prosthesis component. Joint replacement surgery with the aid of navigation system empowers surgeons to accurately fit new implant components specifically to the anatomy of the body, potentially provide the patient with: Fast recovery, extended life of implant, improvement in patient quality life and decreased the possibility of revision surgery. In 1985 a robot, the PUMA 560, was used to place a needle for a brain biopsy using CT guidance [3]. Through the years different models of robotics were developed and proved to be successful in surgery such as ROBODOC and CASPAR [4]-[5]. In this paper a new model that based on Robotic arm–assisted technique was introduced. The robotic arm helps control the depth, length and width burring with graphical feedback in the navigation system. Even though there are different types of models that appear every day, there are some problems that face surgeons [6]. Most types CAS equipment take a fixed position during surgery, also controlling the mechanical arm to move in free direction consider a challenge. Figure1 shows a sample of TKR mechanical arm. Fig. 1. Mechanical arm of TRK surgery [3]. International Journal of Computing and Digital Systems http://dx.doi.org/10.12785/ijcds/020303
