Workspace Derivation of Arthroscope Using Morphological Data and Standard Portal Placement Method for Shoulder Arthroscopy

Robotic arthroscopy is a potential alternative surgery method because the use of robotic arthroscope manipulators could ensure constant quality view that would enhance workflow operator. To achieve this advancement, workspace derivation for movement in human joint needed. There key requirement arthroscope: should incorporate all essential observation sites to suitable field during an arthroscopic various patients. The be delineated via measurements on patients or cadavers; however, arduous process. Herein, we propose using morphological measurement data shoulder joints rotator cuff repair, which typical operation arthroscopy. First, present geometrical modeling parameters and standard portal placement methods. Second, are substituted determine required repair. As result, obtain location each portals sites. We verify derived through several cadaveric tests. For experimental results, it was confirmed $95^{th}$ percentile range motion formed within obtained proposed method. results feasible