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Du H, Wu G, Hu Y, He Y, Zhang P. Experimental research based on robot-assisted surgery: Lower limb fracture reduction surgery planning navigation system. Health Sci Rep 2024; 7:e2033. [PMID: 38655421 PMCID: PMC11035755 DOI: 10.1002/hsr2.2033] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/26/2023] [Revised: 02/16/2024] [Accepted: 03/15/2024] [Indexed: 04/26/2024] Open
Abstract
Background and Aims Lower extremity fracture reduction surgery is a key step in the treatment of lower extremity fractures. How to ensure high precision of fracture reduction while reducing secondary trauma during reduction is a difficult problem in current surgery. Methods First, segmentation and three-dimensional reconstruction are performed based on fracture computed tomography images. A cross-sectional point cloud extraction algorithm based on the normal filtering of the long axis of the bone is designed to obtain the cross-sectional point clouds of the distal bone and the proximal bone, and the optimal reset target pose of the broken bone is obtained by using the iterative closest point algorithm. Then, the optimal reset sequence of reset parameters was determined, combined with the broken bone collision detection algorithm, a surgical planning algorithm for lower limb fracture reset was proposed, which can effectively reduce the reset force while ensuring the accuracy of the reset process without collision. Results The average error of the reduction of the model bone was within 1.0 mm. The reduction operation using the planning and navigation system of lower extremity fracture reduction surgery can effectively reduce the reduction force. At the same time, it can better ensure the smooth change of the reduction force. Conclusion Planning and navigation system of lower extremity fracture reduction surgery is feasible and effective.
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Affiliation(s)
- Hanwen Du
- Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhenChina
- University of Chinese Academy of SciencesBeijingChina
| | - Geyang Wu
- Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhenChina
- Harbin Institute of Technology, ShenzhenShenzhenChina
| | - Ying Hu
- Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhenChina
| | - Yucheng He
- Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhenChina
- Guangzhou Medical UniversityGuangzhouChina
| | - Peng Zhang
- Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhenChina
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Zheng G, Lei J, Hu L, Zhang L. Adaptive variable impedance position/force tracking control of fracture reduction robot. Int J Med Robot 2023; 19:e2469. [PMID: 36302164 DOI: 10.1002/rcs.2469] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/18/2022] [Revised: 10/06/2022] [Accepted: 10/11/2022] [Indexed: 11/06/2022]
Abstract
BACKGROUND The operation object of robot-assisted fracture reduction surgery is the musculoskeletal tissue with rigid-compliance coupling characteristics. It is necessary to improve the interactive compliance and safety between the reduction robot and the musculoskeletal tissue. METHOD An adaptive variable impedance position/force tracking control strategy based on friction compensation is proposed. The stiffness of the reduction robot can be adaptively adjusted according to the contact force between the end-effector and the environment. The Stribeck friction force model of the branch chain electric cylinder is derived to improve the motion control performance. RESULTS The fracture reduction experiment is completed. The experimental results show that the adaptive variable impedance position/force control strategy can realize position and force tracking in fracture reduction. CONCLUSION A safety control strategy is proposed and applied to robot-assisted fracture reduction surgery, which improves the coordination and compliance of the human-robot interaction between the reduction robot and the patient.
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Affiliation(s)
- Gongliang Zheng
- School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China
| | - Jingtao Lei
- School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China
| | - Lei Hu
- School of Mechanical Engineering and Automation, Beihang University, Beijing, China
| | - Lihai Zhang
- Department of Orthopedics, Chinese PLA General Hospital, Beijing, China
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Cai C, Zheng X, Shi M, Bi J, Zhang Q. Bone collision detection method for robot assisted fracture reduction based on vibration excitation. COMPUTER METHODS AND PROGRAMS IN BIOMEDICINE 2023; 229:107317. [PMID: 36563649 DOI: 10.1016/j.cmpb.2022.107317] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/06/2022] [Revised: 12/09/2022] [Accepted: 12/16/2022] [Indexed: 06/17/2023]
Abstract
BACKGROUND AND OBJECTIVE In the process of robotic fracture reduction, there is a risk of unintended collision of broken bones, which is not conducive to ensuring the safety of the reduction system. In order to solve this problem, this paper proposed a vibration-based collision detection method for fracture reduction process. METHODS Based on the two degree-of-freedom vibration response model, the factors affecting the respond of the vibration, including the excitation voltage, the clamping length at the proximal and distal ends, the mass and tensile force of the soft tissue, were obtained. The effects of these factors on the vibration transfer performance of broken bones and soft tissue were investigated by single factor experiments. RESULTS The results showed that, in terms of peak value, the increase of excitation voltage would make the vibration amplitude increase linearly, and the increase of soft tissue mass and tension increased the vibration transmission capacity of soft tissue in the frequency range of 500-1000 Hz. In terms of peak frequency, the clamping length at the distal end had the greatest influence, which reached 74 Hz, followed by 45 Hz at the proximal end. While the influence of other factors was little. According to single factor experiments, the excitation frequency in the verification experiments was determined as 677 Hz. Under the vibration interference with the acceleration amplitude of 1.2 G, this method achieved correct detection. CONCLUSION This research developed a broken bone collision detection method based on vibration excitation. The method can correctly detect the collision of broken bones with strong anti-interference ability. It is of great significance to improve the safety of fracture reduction process.
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Affiliation(s)
- Chenxu Cai
- Key Laboratory of High Efficiency and Clean Mechanical Manufacture (Ministry of Education), School of Mechanical Engineering, Shandong University, Jinan 250061, China; National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan 250061, China
| | - Xuran Zheng
- Key Laboratory of High Efficiency and Clean Mechanical Manufacture (Ministry of Education), School of Mechanical Engineering, Shandong University, Jinan 250061, China; National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan 250061, China
| | - Mingyang Shi
- Key Laboratory of High Efficiency and Clean Mechanical Manufacture (Ministry of Education), School of Mechanical Engineering, Shandong University, Jinan 250061, China; National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan 250061, China
| | - Jianping Bi
- The Affiliated Hospital of Shandong University of Traditional Chinese Medicine, China
| | - Qinhe Zhang
- Key Laboratory of High Efficiency and Clean Mechanical Manufacture (Ministry of Education), School of Mechanical Engineering, Shandong University, Jinan 250061, China; National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan 250061, China.
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Fan X, Zhu Q, Tu P, Joskowicz L, Chen X. A review of advances in image-guided orthopedic surgery. Phys Med Biol 2023; 68. [PMID: 36595258 DOI: 10.1088/1361-6560/acaae9] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/15/2022] [Accepted: 12/12/2022] [Indexed: 12/15/2022]
Abstract
Orthopedic surgery remains technically demanding due to the complex anatomical structures and cumbersome surgical procedures. The introduction of image-guided orthopedic surgery (IGOS) has significantly decreased the surgical risk and improved the operation results. This review focuses on the application of recent advances in artificial intelligence (AI), deep learning (DL), augmented reality (AR) and robotics in image-guided spine surgery, joint arthroplasty, fracture reduction and bone tumor resection. For the pre-operative stage, key technologies of AI and DL based medical image segmentation, 3D visualization and surgical planning procedures are systematically reviewed. For the intra-operative stage, the development of novel image registration, surgical tool calibration and real-time navigation are reviewed. Furthermore, the combination of the surgical navigation system with AR and robotic technology is also discussed. Finally, the current issues and prospects of the IGOS system are discussed, with the goal of establishing a reference and providing guidance for surgeons, engineers, and researchers involved in the research and development of this area.
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Affiliation(s)
- Xingqi Fan
- Institute of Biomedical Manufacturing and Life Quality Engineering, State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, People's Republic of China
| | - Qiyang Zhu
- Institute of Biomedical Manufacturing and Life Quality Engineering, State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, People's Republic of China
| | - Puxun Tu
- Institute of Biomedical Manufacturing and Life Quality Engineering, State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, People's Republic of China
| | - Leo Joskowicz
- School of Computer Science and Engineering, The Hebrew University of Jerusalem, Jerusalem, Israel
| | - Xiaojun Chen
- Institute of Biomedical Manufacturing and Life Quality Engineering, State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, People's Republic of China.,Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, People's Republic of China
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Cui R, Li J, Jiang Y, Sun H, Tan Y, Duan L, Wu M. Trajectory optimisation with musculoskeletal integration features for fracture reduction orthopaedic robot. Int J Med Robot 2022; 18:e2372. [DOI: 10.1002/rcs.2372] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/03/2021] [Revised: 10/26/2021] [Accepted: 10/26/2021] [Indexed: 11/07/2022]
Affiliation(s)
- Rui Cui
- School of Artificial Intelligence and Data Science and Engineering Research Center of Intelligent Rehabilitation Device and Detection Technology Ministry of Education, Hebei University of Technology Tianjin China
| | - Jian Li
- School of Automation Beijing University of Posts and Telecommunications Beijing China
- Beijing Key Laboratory of Rehabilitation Technical Aids for Old‐Age Disability and Key Laboratory of Neuro‐functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs National Research Center for Rehabilitation Technical Aids Beijing China
| | - Yongkang Jiang
- Shenzhen Institute of Advanced Technology Chinese Academy of Science Shenzhen China
| | - Hao Sun
- School of Artificial Intelligence and Data Science and Engineering Research Center of Intelligent Rehabilitation Device and Detection Technology Ministry of Education, Hebei University of Technology Tianjin China
| | - Yinglun Tan
- School of Artificial Intelligence and Data Science and Engineering Research Center of Intelligent Rehabilitation Device and Detection Technology Ministry of Education, Hebei University of Technology Tianjin China
| | - Lunhui Duan
- School of Artificial Intelligence and Data Science and Engineering Research Center of Intelligent Rehabilitation Device and Detection Technology Ministry of Education, Hebei University of Technology Tianjin China
| | - Mengkun Wu
- School of Artificial Intelligence and Data Science and Engineering Research Center of Intelligent Rehabilitation Device and Detection Technology Ministry of Education, Hebei University of Technology Tianjin China
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Li G, Li J, Dong M, Zuo S. An Interference Inspection Algorithm of Limb and Hexapod Frame in the Treatment of Lower Limb Deformity. J Biomech Eng 2022; 144:1133333. [PMID: 35079773 DOI: 10.1115/1.4053400] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/21/2021] [Indexed: 11/08/2022]
Abstract
The Ortho-SUV frame is an innovative hexapod widely used in orthopedics for managing fractures and deformities. Avoidance of limb-frame interference is essential to verify the implementability of the pre-planned correction trajectory, as well as to maintain the continuity and security of the correction strategy. In this study, a novel interference inspection algorithm is developed to investigate the interaction of the limb and hexapod frame in the treatment of lower limb deformities. The algorithm is built on a minimum distance model of the cone frustum busbar and cylindrical axis using vector analysis. A pre-defined trajectory is generated by Cartesian coordinate path control. Subsequently, an interference case is performed through numerical simulation and motion simulation. The results show that the conclusion of numerical simulation and motion simulation are consistent, which prove the feasibility of the algorithm. The results also show that it is possible to identify the riskiest struts, which are prone to interfere with the limb, and the riskiest positions. The proposed algorithm can support the clinician in selecting the suitable frame configuration to avoid interference. The algorithm solves the problem that the interference can only be judged by clinical observation in the clinic.
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Affiliation(s)
- Guotong Li
- Beijing Key Laboratory of Advanced Manufacturing Technology, Faculty of Materials and Manufacturing, Beijing University of Technology, No.100, Pingleyuan, Chaoyang District, Beijing 100124, China
| | - Jianfeng Li
- Beijing Key Laboratory of Advanced Manufacturing Technology, Faculty of Materials and Manufacturing, Beijing University of Technology, No.100, Pingleyuan, Chaoyang District, Beijing 100124, China
| | - Mingjie Dong
- Beijing Key Laboratory of Advanced Manufacturing Technology, Faculty of Materials and Manufacturing, Beijing University of Technology, No.100, Pingleyuan, Chaoyang District, Beijing 100124, China
| | - Shiping Zuo
- Beijing Key Laboratory of Advanced Manufacturing Technology, Faculty of Materials and Manufacturing, Beijing University of Technology, No.100, Pingleyuan, Chaoyang District, Beijing 100124, China
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Xu H, Lei J, Hu L, Zhang L. Constraint of musculoskeletal tissue and path planning of robot-assisted fracture reduction with collision avoidance. Int J Med Robot 2021; 18:e2361. [PMID: 34969160 DOI: 10.1002/rcs.2361] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/12/2021] [Revised: 12/27/2021] [Accepted: 12/28/2021] [Indexed: 11/07/2022]
Abstract
BACKGROUND For the robot-assisted fracture reduction, due to the complex fracture musculoskeletal environment, it is necessary to consider the influence of soft tissue traction on preoperative reduction path planning. METHOD An improved 3D A* algorithm is adopted to plan the fracture reduction path. The distal fragment point clouds are updated to avoid the collision, and the end point coordinates of the muscles are updated to calculate muscular lengths during the path search. RESULTS 3D reduction path of long-bone fracture is planned, effectively avoiding the fracture fragments collision and ensuring the length of the corresponding muscle is always less than the allowable maximum muscle length after elongation. CONCLUSION The proposed method can effectively avoid the collision between the distal fragment and the proximal fragment during the fracture reduction, can avoid secondary injury of the muscles around the femoral bone caused by over-distraction, and effectively improve the safety of robot reduction operation. This article is protected by copyright. All rights reserved.
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Affiliation(s)
- Haifei Xu
- School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China
| | - Jingtao Lei
- School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China
| | - Lei Hu
- School of Mechanical Engineering and Automation, Beihang University, Beijing, China
| | - Lihai Zhang
- Department of Orthopaedics, Chinese PLA General Hospital, Beijing, China
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A Marker-Free 2D Image-Guided Method for Robot-Assisted Fracture Reduction Surgery. J INTELL ROBOT SYST 2021. [DOI: 10.1007/s10846-021-01453-8] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/19/2022]
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Cai C, Sun C, Song Y, Lv Q, Bi J, Zhang Q. Bone collision detection method for robot assisted fracture reduction based on force curve slope. COMPUTER METHODS AND PROGRAMS IN BIOMEDICINE 2021; 209:106315. [PMID: 34352651 DOI: 10.1016/j.cmpb.2021.106315] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/22/2021] [Accepted: 07/21/2021] [Indexed: 06/13/2023]
Abstract
BACKGROUND AND OBJECTIVE The application of robot technology in fracture reduction ensures the minimal invasiveness and accurate operation process. Most of the existing robot assisted fracture reduction systems don't have the function of bone collision detection, which is very important for system safety. In view of the deficiencies in the research of this field, a broken bone collision detection method based on the slope ratio of force curve was proposed in this paper, which could realize the real-time detection. METHODS In order to analyze the factors influencing the slope of force curve, a collision mechanical model based on three-element viscoelastic model was established. The effects of four factors on the slope ratio of the force curve were studied based on the mechanical model. The proposed collision detection model was analyzed in detail. By drawing slope ratio curves under various experimental conditions, the universality of the collision detection model was proved; by comparative simulation, the differences between the slope ratio curves before and after optimization were analyzed. The factors that affect the performance of the detection model were also analyzed. RESULTS The results of collision experiments show that the increase of moving speed of distal bone and soft tissue mass reduces the slope ratio, while the increase of collision angle increases the slope ratio. In the verification experiment, the minimum main peak of KRopt curve is 14.16 and the maximum is 220.7, the maximum interference value before the peak is 6.1. When the detection threshold is 10, the model can detect the collision state of the broken bone. It is also proved that after optimization, the model can effectively filter out invalid waveforms and reduce the occurrence of false detections. When a=5 and b=40, the detection model has sufficient stability and a low detection time delay. CONCLUSION This research developed a broken bone collision detection method based on the slope ratio of the force curve. After optimization, the method has good adaptability under a variety of experimental conditions. The collision of broken bones can be judged by setting an appropriate detection threshold. The application of this method in the robot fracture reduction system will improve the safety of the system.
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Affiliation(s)
- Chenxu Cai
- Key Laboratory of High Efficiency and Clean Mechanical Manufacture (Ministry of Education), School of Mechanical Engineering, Shandong University, Jinan 250061, China; National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan 250061, China
| | - Congyu Sun
- Key Laboratory of High Efficiency and Clean Mechanical Manufacture (Ministry of Education), School of Mechanical Engineering, Shandong University, Jinan 250061, China; National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan 250061, China
| | - Yixuan Song
- Key Laboratory of High Efficiency and Clean Mechanical Manufacture (Ministry of Education), School of Mechanical Engineering, Shandong University, Jinan 250061, China; National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan 250061, China
| | - Qinjing Lv
- Key Laboratory of High Efficiency and Clean Mechanical Manufacture (Ministry of Education), School of Mechanical Engineering, Shandong University, Jinan 250061, China; National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan 250061, China
| | - Jianping Bi
- The Affiliated Hospital of Shandong University of Traditional Chinese Medicine, China
| | - Qinhe Zhang
- Key Laboratory of High Efficiency and Clean Mechanical Manufacture (Ministry of Education), School of Mechanical Engineering, Shandong University, Jinan 250061, China; National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan 250061, China.
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Li G, Li J, Zuo S, Dong M. Influence of parameter deviation on the closeness of the tibial limb and external fixator based on a novel collision detection algorithm. INTERNATIONAL JOURNAL FOR NUMERICAL METHODS IN BIOMEDICAL ENGINEERING 2021; 37:e3502. [PMID: 34114336 DOI: 10.1002/cnm.3502] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/02/2021] [Revised: 04/21/2021] [Accepted: 06/04/2021] [Indexed: 06/12/2023]
Abstract
The Ortho-SUV frame (OSF) is a hexapod external fixator widely applied in orthopedics deformity correction. The possibility of collision between OSF's struts and the soft tissue is an essential but overlooked issue. To avoid the issue, a novel collision detection algorithm is established based on a cone-cylinder model of the tibial limb-strut interaction for detecting the closeness of the tibial limb and external fixator. The algorithm is constructed using the vector analysis based on the model of the minimum distance between the truncated cone generatrix and the cylinder axis. The motion simulation is performed on the overall alignment through the Solidworks-motion module to verify the feasibility of the algorithm. Subsequently, the installation parameter deviations of the bone-fixator system are described to investigate the influence of orientation and position deviation on the closeness of the tibial limb and external fixator through the numerical method. The investigation results show that the orientation deviation γ (around the z-axis), the position deviation τ1 and τ2 (along the x and y-axes, respectively) have greater sensitivity to closeness and the influence of multiple deviations on the closeness has the property of superposition. The proposed algorithm can assist clinicians to strictly design and appraise frame configurations prior to their application to avoid the collision between the external fixator and the limbs during the correction. It has great application significance in the development of computer-aided correction software.
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Affiliation(s)
- Guotong Li
- Beijing Key Laboratory of Advanced Manufacturing Technology, Faculty of Materials and Manufacturing, Beijing University of Technology, Beijing, PR China
| | - Jianfeng Li
- Beijing Key Laboratory of Advanced Manufacturing Technology, Faculty of Materials and Manufacturing, Beijing University of Technology, Beijing, PR China
| | - Shiping Zuo
- Beijing Key Laboratory of Advanced Manufacturing Technology, Faculty of Materials and Manufacturing, Beijing University of Technology, Beijing, PR China
| | - Mingjie Dong
- Beijing Key Laboratory of Advanced Manufacturing Technology, Faculty of Materials and Manufacturing, Beijing University of Technology, Beijing, PR China
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Fu Z, Sun H, Dong X, Chen J, Rong H, Guo Y, Lin S. Indirect visual guided fracture reduction robot based on external markers. Int J Med Robot 2020; 17:1-11. [PMID: 32881221 DOI: 10.1002/rcs.2162] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/28/2020] [Revised: 08/14/2020] [Accepted: 08/16/2020] [Indexed: 11/07/2022]
Affiliation(s)
- Zhuoxin Fu
- School of Artificial Intelligence and Data Science Hebei University of Technology Tiajin China
| | - Hao Sun
- School of Artificial Intelligence and Data Science Hebei University of Technology Tiajin China
| | - Xinyu Dong
- Navigation and Inertia Division Shanghai Aerospace Control Technology Institute Shanghai China
- Shanghai Engineering Research Center of Inertia Shanghai China
| | - Jianwen Chen
- Orthopedics Rehabilitation Hospital of National Research Center for Rehabilitation Technical Aids Beijing China
- Key Laboratory of Human Motion Analysis and Rehabilitation Technology of the Ministry of Civil Affairs Beijing China
| | - Hongtao Rong
- Recovery unit Tianjin Medical University General Hospital Tianjin China
| | - Yue Guo
- Orthopedics Rehabilitation Hospital of National Research Center for Rehabilitation Technical Aids Beijing China
- Key Laboratory of Human Motion Analysis and Rehabilitation Technology of the Ministry of Civil Affairs Beijing China
| | - Shengxin Lin
- School of Artificial Intelligence and Data Science Hebei University of Technology Tiajin China
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Du H, Hu L, Hao M, Zhang L. Application of binocular visual navigation technique in diaphyseal fracture reduction. Int J Med Robot 2020; 16:e2082. [PMID: 31967377 DOI: 10.1002/rcs.2082] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/30/2019] [Revised: 01/15/2020] [Accepted: 01/17/2020] [Indexed: 11/11/2022]
Abstract
BACKGROUND Computer-assisted surgical navigation techniques have shown promise; however, currently popular systems have limitations. This paper presents the characterization and application of a binocular visual navigation technique in diaphyseal fracture reduction. METHODS A binocular visual tracker (MicronTracker) was introduced to reduce diaphyseal fractures. A transformation matrix was used to acquire the reduction parameters. A transverse diaphyseal fracture was used as a control group. RESULTS Precision tests were performed with the binocular system using a simulation femoral model with a transverse fracture 12 times. All residual deformations were compared and P < 0.01. CONCLUSIONS The binocular visual navigation technique produces good results with advantages of flexibility and high positional accuracy and shows promise. The MicronTracker might lead to further application in the remote navigation field.
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Affiliation(s)
- Hailong Du
- Department of Orthopaedics, Chinese PLA General Hospital, Beijing, China
| | - Lei Hu
- Robotics Institute, Beihang University, Beijing, China
| | - Ming Hao
- Department of Orthopaedics, Chinese PLA General Hospital, Beijing, China
| | - Lihai Zhang
- Department of Orthopaedics, Chinese PLA General Hospital, Beijing, China
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Zhao JX, Li C, Ren H, Hao M, Zhang LC, Tang PF. Evolution and Current Applications of Robot-Assisted Fracture Reduction: A Comprehensive Review. Ann Biomed Eng 2019; 48:203-224. [DOI: 10.1007/s10439-019-02332-y] [Citation(s) in RCA: 35] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/08/2019] [Accepted: 07/20/2019] [Indexed: 11/28/2022]
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Early Experience with Reduction of Unstable Pelvic Fracture Using a Computer-Aided Reduction Frame. BIOMED RESEARCH INTERNATIONAL 2018; 2018:7297635. [PMID: 29662896 PMCID: PMC5831984 DOI: 10.1155/2018/7297635] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.2] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 11/11/2017] [Accepted: 01/21/2018] [Indexed: 12/03/2022]
Abstract
Purpose The optimal closed reduction technique for unstable pelvic fractures remains controversial. The purpose of this study is to verify the effectiveness and report early experiences with the reduction of unstable pelvic fractures using a computer-aided pelvic reduction frame. Methods From January 2015 to August 2016, a total of 10 patients with unilateral unstable pelvic fractures were included in this study. The surgical reduction procedure was based on the protocol of the computer-aided pelvic reduction frame that we proposed in a previous work. The quality of the reductions achieved using this system was evaluated with residual translational and rotational differences between the actual and virtual reduction positions of pelvis. The duration of the operation was recorded for quality control. Results The mean times required to set up the frame, to complete the virtual surgery simulation, and to reduce the unstable pelvic fractures were 10.3, 20.9, and 7.5 min, respectively. The maximum residual translational and rotational displacements were less than 6.5 mm and 3.71 degrees, respectively. Conclusions This computer-aided reduction frame can be a useful tool for the speedy and accurate reduction of unstable pelvic fractures. Further clinical studies should be conducted with larger patient samples to verify its safety and efficacy.
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Wang L, Wang T, Tang P, Hu L, Liu W, Han Z, Hao M, Liu H, Wang K, Zhao Y, Guo N, Cao Y, Li C. A new hand-eye calibration approach for fracture reduction robot. Comput Assist Surg (Abingdon) 2017; 22:113-119. [PMID: 28938847 DOI: 10.1080/24699322.2017.1379254] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/18/2022] Open
Abstract
OBJECTIVE The hand-eye calibration is used to determine the transformation between the end-effector and the camera marker of the robot. But the robot movement in traditional method would be time-consuming, inaccurate and even unavailable in some conditions. The method presented in this article can complete the calibration without any movement and is more suitable in clinical applications. METHODS Instead of solving the classic non-linear equation AX = XB, we collected the points on X and Y axes of the tool coordinate system (TCS) with the visual probe and fitted them using the singular value decomposition algorithm (SVD). Then, the transformation was obtained with the data of the tool center point (TCP). A comparison test was conducted to verify the performance of the method. RESULTS The average translation error and orientation error of the new method are 0.12 ± 0.122 mm and 0.18 ± 0.112° respectively, while they are 0.357 ± 0.347 mm and 0.416 ± 0.234° correspondingly in the traditional method. CONCLUSIONS The high accuracy of the method indicates that it is a good candidate for medical robots, which usually need to work in a sterile environment.
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Affiliation(s)
- Lifeng Wang
- a School of Mechanical Engineering and Automation , Beihang University , Beijing , China
| | - Tianmiao Wang
- a School of Mechanical Engineering and Automation , Beihang University , Beijing , China
| | - Peifu Tang
- b Department of Orthopaedics , Chinese PLA General Hospital , Beijing , China
| | - Lei Hu
- a School of Mechanical Engineering and Automation , Beihang University , Beijing , China
| | - Wenyong Liu
- c School of Biological Science and Medical Engineering , Beihang University , Beijing , China
| | - Zhonghao Han
- a School of Mechanical Engineering and Automation , Beihang University , Beijing , China
| | - Ming Hao
- b Department of Orthopaedics , Chinese PLA General Hospital , Beijing , China
| | - Hongpeng Liu
- a School of Mechanical Engineering and Automation , Beihang University , Beijing , China
| | - Kun Wang
- b Department of Orthopaedics , Chinese PLA General Hospital , Beijing , China
| | - Yanpeng Zhao
- b Department of Orthopaedics , Chinese PLA General Hospital , Beijing , China
| | - Na Guo
- a School of Mechanical Engineering and Automation , Beihang University , Beijing , China
| | - Yanxiang Cao
- b Department of Orthopaedics , Chinese PLA General Hospital , Beijing , China
| | - Changsheng Li
- d Department of Biomedical Engineering , National University of Singapore , Singapore, Singapore
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Li C, Wang T, Hu L, Tang P, Wang L, Zhang L, Guo N, Tan Y. A novel master–slave teleoperation robot system for diaphyseal fracture reduction: a preliminary study. Comput Assist Surg (Abingdon) 2016. [DOI: 10.1080/24699322.2016.1240304] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/20/2022] Open
Affiliation(s)
- Changsheng Li
- School of Mechanical Engineering and Automation, Beihang University, Beijing, China
| | - Tianmiao Wang
- School of Mechanical Engineering and Automation, Beihang University, Beijing, China
| | - Lei Hu
- School of Mechanical Engineering and Automation, Beihang University, Beijing, China
| | - Peifu Tang
- Department of Orthopaedics, Chinese PLA General Hospital, Beijing, China
| | - Lifeng Wang
- School of Mechanical Engineering and Automation, Beihang University, Beijing, China
| | - Lihai Zhang
- Department of Orthopaedics, Chinese PLA General Hospital, Beijing, China
| | - Na Guo
- School of Mechanical Engineering and Automation, Beihang University, Beijing, China
| | - Yiming Tan
- School of Mechanical Engineering and Automation, Beihang University, Beijing, China
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17
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Li C, Wang T, Hu L, Zhang L, Du H, Zhao L, Wang L, Tang P. A visual servo-based teleoperation robot system for closed diaphyseal fracture reduction. Proc Inst Mech Eng H 2015. [PMID: 26199026 DOI: 10.1177/0954411915595827] [Citation(s) in RCA: 12] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/17/2022]
Abstract
Common fracture treatments include open reduction and intramedullary nailing technology. However, these methods have disadvantages such as intraoperative X-ray radiation, delayed union or nonunion and postoperative rotation. Robots provide a novel solution to the aforementioned problems while posing new challenges. Against this scientific background, we develop a visual servo-based teleoperation robot system. In this article, we present a robot system, analyze the visual servo-based control system in detail and develop path planning for fracture reduction, inverse kinematics, and output forces of the reduction mechanism. A series of experimental tests is conducted on a bone model and an animal bone. The experimental results demonstrate the feasibility of the robot system. The robot system uses preoperative computed tomography data to realize high precision and perform minimally invasive teleoperation for fracture reduction via the visual servo-based control system while protecting surgeons from radiation.
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Affiliation(s)
- Changsheng Li
- School of Mechanical Engineering and Automation, Beihang University, Beijing, China
| | - Tianmiao Wang
- School of Mechanical Engineering and Automation, Beihang University, Beijing, China
| | - Lei Hu
- School of Mechanical Engineering and Automation, Beihang University, Beijing, China
| | - Lihai Zhang
- Department of Orthopaedics, Chinese PLA General Hospital, Beijing, China
| | - Hailong Du
- Department of Orthopaedics, Chinese PLA General Hospital, Beijing, China
| | - Lu Zhao
- School of Mechanical Engineering and Automation, Beihang University, Beijing, China
| | - Lifeng Wang
- School of Mechanical Engineering and Automation, Beihang University, Beijing, China
| | - Peifu Tang
- Department of Orthopaedics, Chinese PLA General Hospital, Beijing, China
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