1. Pelvic Osteolysis: Evacuation and Filling Felicia Shay Computer Integrated Surgery II Checkpoint Presentation

2. Plan of Action Project Description/Deliverables Project Plan Key Dates Progress to Date Design Problems Encountered/Solved Dependencies

3. Project Description ID material/potential Plan for tool design Explore Options Evaluate Build tools Testing

4. Deliverables Minimal: Research and documentation of potential material –Tools –Filling Potential tool design with evaluations and considerations Bone filler material and analysis of potential material Expected: Prototyping of instrument and filling Modeling and evaluation of each Potential integration and mechanism for whisking, evacuation and filling Maximal: Integration with robot

5. Background and Constraints Physiologically Problem In the material: –Biocompatibility –Flexibility to access the material In the shape of lesion In the design and tools needed: –Need for suction and irrigation –Feasibility

6. Plan of Action Project Description/Deliverables Project Plan Key Dates Progress to Date Design Problems Encountered/Solved Dependencies

7. Action 1.0 Communication 2.0 Research –2.1 Tool –2.2 Osteolysis –2.3 Filler 3.0 Optimal design 4.0 Implementation 5.0 Integration and Testing 6.0 Documentation

8. Key Proposed Dates 2.22.01 Official Start Date 3.1.01 Meetings scheduled/attended and research on potential evacuation and filler material 3.8.01 Research weight bearing material 3.15.01 Read papers, begin brainstorming on designs, purchase material and background reading. 3.22.01 Model different designs and evaluate according to the constraints theoretically 4.7.01 Begin prototyping and testing of different size tubing and wires with tool constraint, filling 4.14.01 Evaluating different prototypes based on evaluation methods 5.1.01 Completion of project and documentation

9. Progress to Date 2.22.01 Official Start Date 3.1.01 Meetings scheduled/attended and research on potential evacuation and filler material 3.8.01 Research weight bearing material 3.15.01 Read papers, begin brainstorming on designs, purchase material and background reading. 3.22.01 Model different designs and evaluate according to the constraints theoretically 4.7.01 Begin prototyping and testing of different size tubing and wires with tool constraint 4.14.01 Evaluating different prototypes based on evaluation methods 5.1.01 Completion of project and documentation

10. Revised Dates 2.22.01 Official Start Date 3.1.01 Meetings scheduled/attended and research on potential evacuation and filler material 3.8.01 Research weight bearing material 3.15.01 Read papers, begin brainstorming on designs, purchase material and background reading. 3.22.01 Model different designs and evaluate according to the constraints theoretically ?????? Begin prototyping and testing of different size tubing and wires with tool constraint Evaluating different prototypes based on evaluation methods Completion of project and documentation

11. Relevant Papers Yang, F., Wu, K.H., Pu, Z. J. “The Effect of Strain Rate and Sample Size Effects on the Superelastic Behavior of Superelastic Alloys” Proceedings of the Second International Conference on Shape Memory and Superelastic Technologies. (CA) 1997, p 23-28. Berg, B. “Twist and Stretch: Combined Loading of Pseudoelastic NiTi Tubing” Proceedings of the Second International Conference on Shape Memory and Superelastic Technologies. (CA) 1997, 443-448. Ueki, T., Mogi, H., Horikawa, H. “Torsion Property of Ni-Ti Superelastic Alloy Thin Tubes” Proceedings of the Second International Conference on Shape Memory and Superelastic Technologies. (CA) 1997, 467- 472. Yang, Jianhua. “Fatigue Characterization of Superelastic Nitinol”. Proceedings of the Second International Conference on Shape Memory and Superelastic Technologies. (CA) 1997, 479-484.

12. Considerations Torque Repeat cycling (Compression/Tension) –Strain Rate –Fatigue Angulation to gain access to site Room for tools and evacuation Tight fit vs Loose fit Range of Motion

13. Twist Stretch: Combined Loading of Psuedoelastic NiTi Tubing Stress Load (M Pa) Unload (M Pa) Strain Calculation TorsionWire379.2172.4(O.D.)(Angle rotation)/(2L) Tube296.5144.8(O.D.)(Angle rotation)/(2L) BendWire896.4482.6(O.D.)(Angle rotation)/(2L) Tube579.5262.0(O.D.)(Angle rotation)/(2L)

14. Cyclic Strain vs Fracture

15. Affects of Pathway in Tubing Considerations: –Irrigations and Suction Tight fit –I.e. catheter Spacers –Irrigation and Suction considerations –Trajectory

21. Progress Status Problems –Integration with robot Needs more design +collaboration –Accessing tiny locations Visible under fluoroscopy Small end manipulators Problems –Addressing all considerations and constraints

22. Dependencies Receipt of the materials to begin prototyping