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Ha HG, Han G, Lee S, Nam K, Joung S, Park I, Hong J. Robot-patient registration for optical tracker-free robotic fracture reduction surgery. COMPUTER METHODS AND PROGRAMS IN BIOMEDICINE 2023; 228:107239. [PMID: 36410266 DOI: 10.1016/j.cmpb.2022.107239] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/15/2022] [Revised: 10/25/2022] [Accepted: 11/08/2022] [Indexed: 06/16/2023]
Abstract
BACKGROUND AND OBJECTIVE Image-guided robotic surgery for fracture reduction is a medical procedure in which surgeons control a surgical robot to align the fractured bones by using a navigation system that shows the rotation and distance of bone movement. In such robotic surgeries, it is necessary to estimate the relationship between the robot and patient (bone), a task known as robot-patient registration, to realize the navigation. Through the registration, a fracture state in real-world can be simulated in virtual space of the navigation system. METHODS This paper proposes an approach to realize robot-patient registration for an optical-tracker-free robotic fracture-reduction system. Instead of the optical tracker which is a three-dimensional position localizer, X-ray images are used to realize the robot-patient registration, combining the relationship of both the robot and patient with regards to C-arm. The proposed method consists of two steps of registration, where initial registration is followed by refined registration which adopts particle swarm optimization with the minimum cross-reprojection error based on bidirectional X-ray images. To address the unrecognizable features due to interference between the robot and bone, we also developed attachable robot features. The allocated robot features could be clearly extracted from the X-ray images, and precise registration could be realized through the particle swarm optimization. RESULTS The proposed method was evaluated in phantom and ex-vivo experiments involving a caprine cadaver. For the phantom experiments, the average translational and rotational errors were 1.88 mm and 2.45°, respectively, and the corresponding errors in the ex vivo experiments were 2.64 mm and 3.32° The results demonstrated the effectiveness of the proposed robot-patient registration. CONCLUSIONS The proposed method enable to estimate the three-dimensional relationship between fractured bones in real-world by using only two-dimensional images, and the relationship is accurately simulated in virtual reality for the navigation. Therefore, a reduction procedure for successful treatment of bone fractures in image-guided robotic surgery can be expected with the aid of the proposed registration method.
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Affiliation(s)
- Ho-Gun Ha
- Division of Intelligent Robot, DGIST, 333 Techno Jungang-daero, Hyeonpung-myeon, Dalseong-Gun, Daegu 42988, Republic of Korea.
| | - Gukyeong Han
- Department of Robotics and Mechatronics Engineering, DGIST, 333 Techno Jungang-daero, Hyeonpung-myeon, Dalseong-gun, Daegu 42988, Republic of Korea
| | - Seongpung Lee
- R&D Center, Curexo Inc., 4-5, Yanghyeon-ro 405 Beon-gil, Jungwon-gu, Seongnam-si, Gyeonggi-do 13438, Republic of Korea
| | - Kwonsun Nam
- R&D Center, SAMICK THK Co., Ltd., Jinwi2sandan-ro, Jinwi-myeon, Pyeongtaek-si, Gyeonggi-do 17708, Republic of Korea
| | - Sanghyun Joung
- Medical Device and Robot Institute of Park, Kyungpook National University, Global plaza 1006, 80, Daehak-ro, Buk-gu, Daegu 41566, Republic of Korea
| | - Ilhyung Park
- Medical Device and Robot Institute of Park, Kyungpook National University, Global plaza 1006, 80, Daehak-ro, Buk-gu, Daegu 41566, Republic of Korea; Department of Orthopaedic Surgery, School of Medicine, Kyungpook National University Hospital, 130 Dongdeok-ro, Jung-gu, Daegu 41944, Republic of Korea
| | - Jaesung Hong
- Department of Robotics and Mechatronics Engineering, DGIST, 333 Techno Jungang-daero, Hyeonpung-myeon, Dalseong-gun, Daegu 42988, Republic of Korea
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[Development and clinical application of robot-assisted technology in traumatic orthopedics]. ZHONGGUO XIU FU CHONG JIAN WAI KE ZA ZHI = ZHONGGUO XIUFU CHONGJIAN WAIKE ZAZHI = CHINESE JOURNAL OF REPARATIVE AND RECONSTRUCTIVE SURGERY 2022; 36:915-922. [PMID: 35979779 PMCID: PMC9379455 DOI: 10.7507/1002-1892.202206097] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [Subscribe] [Scholar Register] [Indexed: 01/24/2023]
Abstract
OBJECTIVE To review and evaluate the basic principles and advantages of orthopedic robot-assisted technology, research progress, clinical applications, and limitations in the field of traumatic orthopedics, especially in fracture reduction robots. METHODS An extensive review of research literature on the principles of robot-assisted technology and fracture reduction robots was conducted to analyze the technical advantages and clinical efficacy and shortcomings, and to discuss the future development trends in this field. RESULTS Orthopedic surgical robots can assist orthopedists in intuitive preoperative planning, precise intraoperative control, and minimally invasive operations. It greatly expands the ability of doctors to evaluate and treat orthopedic trauma. Trauma orthopedic surgery robot has achieved a breakthrough from basic research to clinical application, and the preliminary results show that the technology can significantly improve surgical precision and reduce surgical trauma. However, there are still problems such as insufficient evaluation of effectiveness, limited means of technology realization, and narrow clinical indications that need to be solved. CONCLUSION Robot-assisted technology has a broad application prospect in traumatic orthopedics, but the current development is still in the initial stage. It is necessary to strengthen the cooperative medical-industrial research, the construction of doctors' communication platform, standardized training and data sharing in order to continuously promote the development of robot-assisted technology in traumatic orthopedics and better play its clinical application value.
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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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Lee S, Joung S, Ha HG, Lee JH, Park KH, Kim S, Nam K, Lee J, Lee HJ, Oh CW, Park I, Hong J. 3D Image-Guided Robotic System for Bone Fracture Reduction. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3150880] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
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Liu Q, Liu Y, Li H, Fu X, Zhang X, Liu S, Zhang J, Zhang T. Marker- three dimensional measurement versus traditional radiographic measurement in the treatment of tibial fracture using Taylor spatial frame. BMC Musculoskelet Disord 2022; 23:155. [PMID: 35172802 PMCID: PMC8849035 DOI: 10.1186/s12891-022-05112-3] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 07/13/2021] [Accepted: 02/14/2022] [Indexed: 11/10/2022] Open
Abstract
Background The Taylor Spatial Frame (TSF) has been widely used for tibial fracture. However, traditional radiographic measurement method is complicated and the reduction accuracy is affected by various factors. The purpose of this study was to propose a new marker- three dimensional (3D) measurement method and determine the differences of reduction outcomes, if any, between marker-3D measurement method and traditional radiographic measurement in the TSF treatment. Methods Forty-one patients with tibial fracture treated by TSF in our institution were retrospectively analyzed from January 2016 to June 2019, including 21 patients in the marker-3D measurement group (experimental group) and 20 patients in the traditional radiographic measurement group (control group). In the experimental group, 3D reconstruction with 6 markers installed on the TSF was performed to determine the electronic prescription. In the control group, the anteroposterior (AP) and lateral radiographs were performed for the traditional parameter measurements. The effectiveness was evaluated by the residual displacement deformity (RDD) and residual angle deformity (RAD) in the coronal and sagittal plane, according to the AP and lateral X-rays after reduction. Results All patients achieved functional reduction. The residual RDD in AP view was 0.5 (0, 1.72) mm in experimental group and 1.74 (0.43, 3.67) mm in control group. The residual RAD in AP view was 0 (0, 1.25) ° in experimental group and 1.25 (0.62, 1.95) °in control group. As for the lateral view, the RDD was 0 (0, 1.22) mm in experimental group and 2.02 (0, 3.74) mm in control group, the RAD was 0 (0, 0) ° in experimental group and 1.42 (0, 1.93) ° in control group. Significant differences in all above comparisons were observed between the two groups (AP view RDD: P = 0.024, RAD: P = 0.020; Lateral view RDD: P = 0.016, RAD: P = 0.004). Conclusions The present study introduced a marker-3D measurement method to complement the current TSF treatment. This method avoids the manual measurement error and improves the accuracy of fracture reduction, providing potential advantages of bone healing and function rehabilitation.
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Affiliation(s)
- Qixin Liu
- Graduate College of Tianjin Medical University, Tianjin, China
| | - Yanshi Liu
- Department of Trauma and Microreconstructive surgery, the First Affiliated Hospital of Xinjiang Medical University, Urumqi, Xinjiang, China
| | - Hong Li
- Department of Orthopedics, Zigong Fourth People's Hospital, Zigong, Sichuan, China
| | - Xuefei Fu
- Department of Orthopedics, Anhui No.2 Provincial People's Hospital, Hefei, Anhui, China
| | - Xingpeng Zhang
- Department of Orthopedics, Shanghai Pudong New Area People's Hospital, Shanghai, China
| | - Sida Liu
- College of Mechanical Engineering, Tianjin University, Tianjin, China
| | - Jinli Zhang
- Department of Orthopedics and Trauma, Tianjin Hospital, Tianjin, China.
| | - Tao Zhang
- Department of Orthopedics and Trauma, Tianjin Hospital, Tianjin, 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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Essomba T, Nguyen Phu S. Kinematic Analysis and Design of a Six-Degrees of Freedom 3-RRPS Mechanism for Bone Reduction Surgery. J Med Device 2020. [DOI: 10.1115/1.4049057] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022] Open
Abstract
Abstract
Robot-assisted bone reduction surgery consists in using robots to reposition the bone fragments into their original place prior to fracture healing. This study presents the application of a 3-RRPS augmented tripod mechanism with six degrees-of-freedom for longitudinal bone reduction surgery. First, the inverse and forward kinematic models of the mechanism are investigated. Particularly, the forward kinematic is solved by applying Sylvester's dialytic method. Second, the velocity model is studied and its singular configurations are identified. The workspace of the 3-RRPS mechanism is then outlined and compared with the Stewart platform, which is a classical mechanism for the targeted application. The results show that this mechanism provides a larger workspace, especially its rotation angle about the vertical axis, which is an important aspect in the bone reduction. A series of simulations on the numerical and graphic software is performed to verify the entire analysis of the parallel mechanism. A physiguide and mscadams software are used to carry out a simulation of a real case of femur fracture reduction using the proposed mechanism to validate its suitability. Finally, a robotic prototype based on the mechanism is manufactured and experimented using an artificial bone model to evaluate the feasibility of the mechanism.
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Affiliation(s)
- Terence Essomba
- Department of Mechanical Engineering, National Central University, 300, Jhongda Road, Jhongli City, Taoyuan County 32001, Taiwan
| | - Sinh Nguyen Phu
- The University of Danang – University of Technology and Education, 48, Caothang Street, Danang 550000, Vietnam
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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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Caiti G, Dobbe JGG, Strackee SD, Strijkers GJ, Streekstra GJ. Computer-Assisted Techniques in Corrective Distal Radius Osteotomy Procedures. IEEE Rev Biomed Eng 2020; 13:233-247. [DOI: 10.1109/rbme.2019.2928424] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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Bai L, Yang J, Chen X, Sun Y, Li X. Medical Robotics in Bone Fracture Reduction Surgery: A Review. SENSORS (BASEL, SWITZERLAND) 2019; 19:E3593. [PMID: 31426577 PMCID: PMC6720500 DOI: 10.3390/s19163593] [Citation(s) in RCA: 27] [Impact Index Per Article: 5.4] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 06/28/2019] [Revised: 08/12/2019] [Accepted: 08/12/2019] [Indexed: 11/17/2022]
Abstract
Since the advantages of precise operation and effective reduction of radiation, robots have become one of the best choices for solving the defects of traditional fracture reduction surgery. This paper focuses on the application of robots in fracture reduction surgery, design of the mechanism, navigation technology, robotic control, interaction technology, and the bone-robot connection technology. Through literature review, the problems in current fracture reduction robot and its future development are discussed.
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Affiliation(s)
- Long Bai
- State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400044, China.
| | - Jianxing Yang
- State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400044, China
| | - Xiaohong Chen
- State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400044, China
| | - Yuanxi Sun
- State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400044, China
| | - Xingyu Li
- State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400044, 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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Troccaz J, Dagnino G, Yang GZ. Frontiers of Medical Robotics: From Concept to Systems to Clinical Translation. Annu Rev Biomed Eng 2019; 21:193-218. [DOI: 10.1146/annurev-bioeng-060418-052502] [Citation(s) in RCA: 54] [Impact Index Per Article: 10.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
Medical robotics is poised to transform all aspects of medicine—from surgical intervention to targeted therapy, rehabilitation, and hospital automation. A key area is the development of robots for minimally invasive interventions. This review provides a detailed analysis of the evolution of interventional robots and discusses how the integration of imaging, sensing, and robotics can influence the patient care pathway toward precision intervention and patient-specific treatment. It outlines how closer coupling of perception, decision, and action can lead to enhanced dexterity, greater precision, and reduced invasiveness. It provides a critical analysis of some of the key interventional robot platforms developed over the years and their relative merit and intrinsic limitations. The review also presents a future outlook for robotic interventions and emerging trends in making them easier to use, lightweight, ergonomic, and intelligent, and thus smarter, safer, and more accessible for clinical use.
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Affiliation(s)
- Jocelyne Troccaz
- Université Grenoble Alpes, CNRS, Grenoble INP, TIMC-IMAG, F-38000 Grenoble, France
| | - Giulio Dagnino
- The Hamlyn Centre for Robotic Surgery, Imperial College London, London SW7 2AZ, United Kingdom;,
| | - Guang-Zhong Yang
- The Hamlyn Centre for Robotic Surgery, Imperial College London, London SW7 2AZ, United Kingdom;,
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Kim WY, Ko SY. Hands-on robot-assisted fracture reduction system guided by a linear guidance constraints controller using a pre-operatively planned goal pose. Int J Med Robot 2018; 15:e1967. [DOI: 10.1002/rcs.1967] [Citation(s) in RCA: 8] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/17/2018] [Revised: 10/11/2018] [Accepted: 10/15/2018] [Indexed: 01/20/2023]
Affiliation(s)
- Woo Young Kim
- MeRIC-Lab, Department of Mechanical Engineering; Chonnam National University; Gwangju South Korea
| | - Seong Young Ko
- MeRIC-Lab, Department of Mechanical Engineering; Chonnam National University; Gwangju South Korea
- School of Mechanical Engineering; Chonnam National University; Gwangju South Korea
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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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Image-Guided Surgical Robotic System for Percutaneous Reduction of Joint Fractures. Ann Biomed Eng 2017; 45:2648-2662. [PMID: 28815387 PMCID: PMC5663813 DOI: 10.1007/s10439-017-1901-x] [Citation(s) in RCA: 15] [Impact Index Per Article: 2.1] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/27/2017] [Accepted: 08/09/2017] [Indexed: 11/03/2022]
Abstract
Complex joint fractures often require an open surgical procedure, which is associated with extensive soft tissue damages and longer hospitalization and rehabilitation time. Percutaneous techniques can potentially mitigate these risks but their application to joint fractures is limited by the current sub-optimal 2D intra-operative imaging (fluoroscopy) and by the high forces involved in the fragment manipulation (due to the presence of soft tissue, e.g., muscles) which might result in fracture malreduction. Integration of robotic assistance and 3D image guidance can potentially overcome these issues. The authors propose an image-guided surgical robotic system for the percutaneous treatment of knee joint fractures, i.e., the robot-assisted fracture surgery (RAFS) system. It allows simultaneous manipulation of two bone fragments, safer robot-bone fixation system, and a traction performing robotic manipulator. This system has led to a novel clinical workflow and has been tested both in laboratory and in clinically relevant cadaveric trials. The RAFS system was tested on 9 cadaver specimens and was able to reduce 7 out of 9 distal femur fractures (T- and Y-shape 33-C1) with acceptable accuracy (≈1 mm, ≈5°), demonstrating its applicability to fix knee joint fractures. This study paved the way to develop novel technologies for percutaneous treatment of complex fractures including hip, ankle, and shoulder, thus representing a step toward minimally-invasive fracture surgeries.
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Dagnino G, Georgilas I, Morad S, Gibbons P, Tarassoli P, Atkins R, Dogramadzi S. Intra-operative fiducial-based CT/fluoroscope image registration framework for image-guided robot-assisted joint fracture surgery. Int J Comput Assist Radiol Surg 2017; 12:1383-1397. [PMID: 28474269 PMCID: PMC5541125 DOI: 10.1007/s11548-017-1602-9] [Citation(s) in RCA: 12] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/10/2017] [Accepted: 04/25/2017] [Indexed: 11/30/2022]
Abstract
Purpose Joint fractures must be accurately reduced minimising soft tissue damages to avoid negative surgical outcomes. To this regard, we have developed the RAFS surgical system, which allows the percutaneous reduction of intra-articular fractures and provides intra-operative real-time 3D image guidance to the surgeon. Earlier experiments showed the effectiveness of the RAFS system on phantoms, but also key issues which precluded its use in a clinical application. This work proposes a redesign of the RAFS’s navigation system overcoming the earlier version’s issues, aiming to move the RAFS system into a surgical environment. Methods The navigation system is improved through an image registration framework allowing the intra-operative registration between pre-operative CT images and intra-operative fluoroscopic images of a fractured bone using a custom-made fiducial marker. The objective of the registration is to estimate the relative pose between a bone fragment and an orthopaedic manipulation pin inserted into it intra-operatively. The actual pose of the bone fragment can be updated in real time using an optical tracker, enabling the image guidance. Results Experiments on phantom and cadavers demonstrated the accuracy and reliability of the registration framework, showing a reduction accuracy (sTRE) of about \documentclass[12pt]{minimal}
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\begin{document}$$0.88~\pm 0.2\,\hbox {mm}$$\end{document}0.88±0.2mm (phantom) and \documentclass[12pt]{minimal}
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\begin{document}$$1.15\pm 0.8\,\hbox {mm}$$\end{document}1.15±0.8mm (cadavers). Four distal femur fractures were successfully reduced in cadaveric specimens using the improved navigation system and the RAFS system following the new clinical workflow (reduction error \documentclass[12pt]{minimal}
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\begin{document}$$1.2\pm 0.3\,\hbox {mm}$$\end{document}1.2±0.3mm, \documentclass[12pt]{minimal}
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\begin{document}$$2\pm 1{^{\circ }})$$\end{document}2±1∘). Conclusion Experiments showed the feasibility of the image registration framework. It was successfully integrated into the navigation system, allowing the use of the RAFS system in a realistic surgical application.
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Affiliation(s)
- Giulio Dagnino
- Bristol Robotics Laboratory, University of the West of England, Coldharbour Lane, BS161QY, Bristol, UK.
| | - Ioannis Georgilas
- Bristol Robotics Laboratory, University of the West of England, Coldharbour Lane, BS161QY, Bristol, UK
| | - Samir Morad
- Bristol Robotics Laboratory, University of the West of England, Coldharbour Lane, BS161QY, Bristol, UK.,Aston University, B47ET, Birmingham, UK
| | - Peter Gibbons
- Bristol Robotics Laboratory, University of the West of England, Coldharbour Lane, BS161QY, Bristol, UK
| | - Payam Tarassoli
- University Hospitals Bristol, Upper Maudlin Street, BS28HW, Bristol, UK
| | - Roger Atkins
- University Hospitals Bristol, Upper Maudlin Street, BS28HW, Bristol, UK
| | - Sanja Dogramadzi
- Bristol Robotics Laboratory, University of the West of England, Coldharbour Lane, BS161QY, Bristol, UK
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WANG LIFENG, WANG TIANMIAO, LI CHANGSHENG, TANG PEIFU, XU YING, ZHANG LIHAI, GUO NA, ZHAO YANPENG, ZHAO LU, HU LEI. PHYSICAL SYMMETRY AND VIRTUAL PLANE-BASED REDUCTION REFERENCE: A PRELIMINARY STUDY FOR ROBOT-ASSISTED PELVIC FRACTURE REDUCTION. J MECH MED BIOL 2016. [DOI: 10.1142/s0219519416400145] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.4] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/18/2022]
Abstract
Traditional pelvis fracture reduction suffers from some disadvantages. Robot-assisted pelvis fracture reduction offers some promise in solving these problems. However, the reduction reference to guide robot motion is a key issue that must be resolved. In this paper, we propose a physical symmetry and virtual plane-based reduction reference and adopt the method of registration to calculate the virtual plane for the reference, which were verified via experiments. The results of the position symmetry experiments of the original pelvis and virtual plane-based position symmetry experiments were similar; both showed that the symmetry errors of the pelvis were less than 4[Formula: see text]mm and 2.5[Formula: see text]. The results indicated that the proposed method could be used as a reference for robot-assisted pelvis fracture reduction.
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Affiliation(s)
- LIFENG WANG
- School of Mechanical Engineering and Automation, Beihang University, No. 37, Xueyuan Road, Haidian District, Beijing 100191, P. R. China
| | - TIANMIAO WANG
- School of Mechanical Engineering and Automation, Beihang University, No. 37, Xueyuan Road, Haidian District, Beijing 100191, P. R. China
| | - CHANGSHENG LI
- School of Mechanical Engineering and Automation, Beihang University, No. 37, Xueyuan Road, Haidian District, Beijing 100191, P. R. China
| | - PEIFU TANG
- Department of Orthopaedics, Chinese PLA General Hospital, No. 28, Fuxing Road, Haidian District, Beijing 100853, P. R. China
| | - YING XU
- School of Mechanical Engineering and Automation, Beihang University, No. 37, Xueyuan Road, Haidian District, Beijing 100191, P. R. China
| | - LIHAI ZHANG
- Department of Orthopaedics, Chinese PLA General Hospital, No. 28, Fuxing Road, Haidian District, Beijing 100853, P. R. China
| | - NA GUO
- School of Mechanical Engineering and Automation, Beihang University, No. 37, Xueyuan Road, Haidian District, Beijing 100191, P. R. China
| | - YANPENG ZHAO
- Department of Orthopaedics, Chinese PLA General Hospital, No. 28, Fuxing Road, Haidian District, Beijing 100853, P. R. China
| | - LU ZHAO
- School of Mechanical Engineering and Automation, Beihang University, No. 37, Xueyuan Road, Haidian District, Beijing 100191, P. R. China
| | - LEI HU
- School of Mechanical Engineering and Automation, Beihang University, No. 37, Xueyuan Road, Haidian District, Beijing 100191, P. R. China
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Dagnino G, Georgilas I, Tarassoli P, Atkins R, Dogramadzi S. Design and real-time control of a robotic system for fracture manipulation. ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. ANNUAL INTERNATIONAL CONFERENCE 2016; 2015:4865-8. [PMID: 26737383 DOI: 10.1109/embc.2015.7319483] [Citation(s) in RCA: 10] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
Abstract
This paper presents the design, development and control of a new robotic system for fracture manipulation. The objective is to improve the precision, ergonomics and safety of the traditional surgical procedure to treat joint fractures. The achievements toward this direction are here reported and include the design, the real-time control architecture and the evaluation of a new robotic manipulator system. The robotic manipulator is a 6-DOF parallel robot with the struts developed as linear actuators. The control architecture is also described here. The high-level controller implements a host-target structure composed by a host computer (PC), a real-time controller, and an FPGA. A graphical user interface was designed allowing the surgeon to comfortably automate and monitor the robotic system. The real-time controller guarantees the determinism of the control algorithms adding an extra level of safety for the robotic automation. The system's positioning accuracy and repeatability have been demonstrated showing a maximum positioning RMSE of 1.18 ± 1.14mm (translations) and 1.85 ± 1.54° (rotations).
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Navigation system for robot-assisted intra-articular lower-limb fracture surgery. Int J Comput Assist Radiol Surg 2016; 11:1831-43. [PMID: 27236651 PMCID: PMC5034012 DOI: 10.1007/s11548-016-1418-z] [Citation(s) in RCA: 27] [Impact Index Per Article: 3.4] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/13/2016] [Accepted: 05/09/2016] [Indexed: 11/30/2022]
Abstract
Purpose In the surgical treatment for lower-leg intra-articular fractures, the fragments have to be positioned and aligned to reconstruct the fractured bone as precisely as possible, to allow the joint to function correctly again. Standard procedures use 2D radiographs to estimate the desired reduction position of bone fragments. However, optimal correction in a 3D space requires 3D imaging. This paper introduces a new navigation system that uses pre-operative planning based on 3D CT data and intra-operative 3D guidance to virtually reduce lower-limb intra-articular fractures. Physical reduction in the fractures is then performed by our robotic system based on the virtual reduction. Methods 3D models of bone fragments are segmented from CT scan. Fragments are pre-operatively visualized on the screen and virtually manipulated by the surgeon through a dedicated GUI to achieve the virtual reduction in the fracture. Intra-operatively, the actual position of the bone fragments is provided by an optical tracker enabling real-time 3D guidance. The motion commands for the robot connected to the bone fragment are generated, and the fracture physically reduced based on the surgeon’s virtual reduction. To test the system, four femur models were fractured to obtain four different distal femur fracture types. Each one of them was subsequently reduced 20 times by a surgeon using our system. Results The navigation system allowed an orthopaedic surgeon to virtually reduce the fracture with a maximum residual positioning error of \documentclass[12pt]{minimal}
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\begin{document}$$0.95 \pm 0.3\,\hbox {mm}$$\end{document}0.95±0.3mm (translational) and \documentclass[12pt]{minimal}
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\begin{document}$$1.4^{\circ } \pm 0.5^{\circ }$$\end{document}1.4∘±0.5∘ (rotational). Correspondent physical reductions resulted in an accuracy of 1.03 ± 0.2 mm and \documentclass[12pt]{minimal}
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\begin{document}$$1.56^{\circ }\pm 0.1^{\circ }$$\end{document}1.56∘±0.1∘, when the robot reduced the fracture. Conclusions Experimental outcome demonstrates the accuracy and effectiveness of the proposed navigation system, presenting a fracture reduction accuracy of about 1 mm and \documentclass[12pt]{minimal}
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\begin{document}$$1.5^{\circ }$$\end{document}1.5∘, and meeting the clinical requirements for distal femur fracture reduction procedures. Electronic supplementary material The online version of this article (doi:10.1007/s11548-016-1418-z) contains supplementary material, which is available to authorized users.
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20
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Vision-based real-time position control of a semi-automated system for robot-assisted joint fracture surgery. Int J Comput Assist Radiol Surg 2015; 11:437-55. [PMID: 26429787 DOI: 10.1007/s11548-015-1296-9] [Citation(s) in RCA: 14] [Impact Index Per Article: 1.6] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/12/2015] [Accepted: 09/10/2015] [Indexed: 01/19/2023]
Abstract
PURPOSE Joint fracture surgery quality can be improved by robotic system with high-accuracy and high-repeatability fracture fragment manipulation. A new real-time vision-based system for fragment manipulation during robot-assisted fracture surgery was developed and tested. METHODS The control strategy was accomplished by merging fast open-loop control with vision-based control. This two-phase process is designed to eliminate the open-loop positioning errors by closing the control loop using visual feedback provided by an optical tracking system. Evaluation of the control system accuracy was performed using robot positioning trials, and fracture reduction accuracy was tested in trials on ex vivo porcine model. RESULTS The system resulted in high fracture reduction reliability with a reduction accuracy of 0.09 mm (translations) and of [Formula: see text] (rotations), maximum observed errors in the order of 0.12 mm (translations) and of [Formula: see text] (rotations), and a reduction repeatability of 0.02 mm and [Formula: see text]. CONCLUSIONS The proposed vision-based system was shown to be effective and suitable for real joint fracture surgical procedures, contributing a potential improvement of their quality.
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Qiao F, Li D, Jin Z, Hao D, Liao Y, Gong S. A novel combination of computer-assisted reduction technique and three dimensional printed patient-specific external fixator for treatment of tibial fractures. INTERNATIONAL ORTHOPAEDICS 2015; 40:835-41. [PMID: 26239534 DOI: 10.1007/s00264-015-2943-z] [Citation(s) in RCA: 30] [Impact Index Per Article: 3.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/14/2015] [Accepted: 07/16/2015] [Indexed: 11/30/2022]
Abstract
PURPOSE Good reduction and appropriate fixation are critical for long bone fractures, however, neither has been addressed satisfactorily. Robotic and navigation techniques can help improve the reduction accuracy. However, their clinical applications are limited by high cost and complexity in operation. The aim of this study was to discuss the feasibility of a customized external fixator in treating long bone fractures. METHODS We combined a computer-assisted reduction technique with 3D printing to develop a customized external fixator for treating three cases of tibial fractures. The reduction accuracy and fixation results were discussed in terms of operation time, X-ray examinations after operation, and limb function recovery. RESULTS Good reduction results were obtained on all three tibial fractures with an average lateral displacement of 2.04 mm (±1.53) and an angulation of 2.54° (±1.33). The surgery was not experience-dependent, and no intra-operative X-ray examinations were conducted. The average operative time was 8.67 minutes (±0.58). CONCLUSIONS A novel customized external fixator for the treatment of tibial fractures has the advantages of easy manipulation, accurate reduction, appropriate fixation, minimal invasion and experience-independence, and therefore has huge potential in clinical applications.
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Affiliation(s)
- Feng Qiao
- Hong-Hui Hospital, College of Medicine, Xi'an Jiaotong University, Xi'an, Shaanxi, 710054, China. .,Xi'an Hong Hui Hospital, No.555, Youyidong Rd, Xi'an, Shaanxi, 710054, China.
| | - Dichen Li
- Department of Orthopaedics, Second Affiliated Hospital, Xi'an Jiaotong University, Xi'an, Shaanxi, 710004, China.,State Key Laboratory for Manufacturing System Engineering, School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi, 710054, China
| | - Zhongmin Jin
- State Key Laboratory for Manufacturing System Engineering, School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi, 710054, China.,Institute of Medical and Biological Engineering, School of Mechanical Engineering, University of Leeds, Leeds, LS2 9JT, UK
| | - Dingjun Hao
- Hong-Hui Hospital, College of Medicine, Xi'an Jiaotong University, Xi'an, Shaanxi, 710054, China
| | - Yonghua Liao
- Hong-Hui Hospital, College of Medicine, Xi'an Jiaotong University, Xi'an, Shaanxi, 710054, China
| | - Sihai Gong
- Hong-Hui Hospital, College of Medicine, Xi'an Jiaotong University, Xi'an, Shaanxi, 710054, China
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22
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Qiao F, Li D, Jin Z, Gao Y, Zhou T, He J, Cheng L. Application of 3D printed customized external fixator in fracture reduction. Injury 2015; 46:1150-5. [PMID: 25702252 DOI: 10.1016/j.injury.2015.01.020] [Citation(s) in RCA: 48] [Impact Index Per Article: 5.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 10/26/2014] [Revised: 01/05/2015] [Accepted: 01/12/2015] [Indexed: 02/02/2023]
Abstract
INTRODUCTION Long bone fracture is common in traumatic osteopathic patients. Good reduction is beneficial for bone healing, preventing the complications such as delayed union, nonunion, malunion, but is hard to achieve. Repeated attempts during the surgery would increase the operation time, cause new damage to the fracture site and excessive exposure to radiation. Robotic and navigation techniques can help improve the reduction accuracy, however, the high cost and complexity of operation have limited their clinical application. MATERIALS AND METHODS We combined 3D printing with computer-assisted reduction technique to develop a customised external fixator with the function of fracture reduction. The original CT data obtained by scanning the fracture was imported to computer for reconstructing and reducing the 3D image of the fracture, based on which the external fixator (named as Q-Fixator) was designed and then fabricated by 3D printing techniques. The fracture reduction and fixation was achieved by connecting the pins inserted in the bones with the customised Q-Fixator. Experiments were conducted on three fracture models to demonstrate the reduction results. RESULTS Good reduction results were obtained on all three fractured bone models, with an average rotation of 1.21°(± 0.24), angulation of 1.84°(± 0.28), and lateral displacement of 2.22 mm(± 0.62). CONCLUSIONS A novel customised external fixator for long bone fracture reduction was readily developed using 3D printing technique. The customised external fixator had the advantages of easy manipulation, accurate reduction, minimally invasion and experience-independence. Future application of the customised external fixator can be extended to include the fixation function with stress adjustment and potentially optimise the fracture healing process.
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Affiliation(s)
- Feng Qiao
- Department of Orthopaedics, Hong-Hui Hospital, Xi'an Jiaotong University College of Medicine, No.555, Youyidong Rd., Xi'an, Shaanxi 710054, China.
| | - Dichen Li
- Department of Orthopaedics, Second Affiliated Hospital, Xi'an Jiaotong University, Xi'an, Shaanxi 710004, China; State Key Laboratory for Manufacturing System Engineering, School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi 710054, China
| | - Zhongmin Jin
- State Key Laboratory for Manufacturing System Engineering, School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi 710054, China; Institute of Medical and Biological Engineering, School of Mechanical Engineering, Uinversity of Leeds, LS2 9JT, UK
| | - Yongchang Gao
- State Key Laboratory for Manufacturing System Engineering, School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi 710054, China
| | - Tao Zhou
- State Key Laboratory for Manufacturing System Engineering, School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi 710054, China
| | - Jinlong He
- Department of Orthopaedics, Hong-Hui Hospital, Xi'an Jiaotong University College of Medicine, No.555, Youyidong Rd., Xi'an, Shaanxi 710054, China
| | - Li Cheng
- Department of Orthopaedics, Hong-Hui Hospital, Xi'an Jiaotong University College of Medicine, No.555, Youyidong Rd., Xi'an, Shaanxi 710054, China
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23
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Faschingbauer M, Heuer HJD, Seide K, Wendlandt R, Münch M, Jürgens C, Kirchner R. Accuracy of a hexapod parallel robot kinematics based external fixator. Int J Med Robot 2014; 11:424-35. [DOI: 10.1002/rcs.1620] [Citation(s) in RCA: 7] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/17/2013] [Revised: 08/19/2014] [Accepted: 08/27/2014] [Indexed: 11/11/2022]
Affiliation(s)
- Maximilian Faschingbauer
- Berufsgenossenschaftliches Unfallkrankenhaus (Trauma Hospital) Hamburg; Department for Trauma Surgery, Orthopaedics and Sportstraumatology; Hamburg Germany
| | - Hinrich J. D. Heuer
- Berufsgenossenschaftliches Unfallkrankenhaus (Trauma Hospital) Hamburg; Department for Trauma Surgery, Orthopaedics and Sportstraumatology; Hamburg Germany
| | - Klaus Seide
- Berufsgenossenschaftliches Unfallkrankenhaus (Trauma Hospital) Hamburg; Department for Trauma Surgery, Orthopaedics and Sportstraumatology; Hamburg Germany
- Berufsgenossenschaftliches Unfallkrankenhaus (Trauma Hospital) Hamburg; Laboratory for Biomechanics; Hamburg Germany
| | - Robert Wendlandt
- University Medical Center Schleswig-Holstein, Campus Luebeck; Biomechanics Laboratory; Luebeck Germany
| | - Matthias Münch
- Berufsgenossenschaftliches Unfallkrankenhaus (Trauma Hospital) Hamburg; Laboratory for Biomechanics; Hamburg Germany
| | - Christian Jürgens
- Berufsgenossenschaftliches Unfallkrankenhaus (Trauma Hospital) Hamburg; Department for Trauma Surgery, Orthopaedics and Sportstraumatology; Hamburg Germany
- University Medical Center Schleswig-Holstein, Campus Luebeck; Clinic for Musculoskeletal Surgery; Luebeck Germany
| | - Rainer Kirchner
- University Medical Center Schleswig-Holstein, Campus Luebeck; Clinic for Musculoskeletal Surgery; Luebeck Germany
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24
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Du H, Hu L, Li C, Wang T, Zhao L, Li Y, Mao Z, Liu D, Zhang L, He C, Zhang L, Hou H, Zhang L, Tang P. Advancing computer-assisted orthopaedic surgery using a hexapod device for closed diaphyseal fracture reduction. Int J Med Robot 2014; 11:348-359. [PMID: 25242630 DOI: 10.1002/rcs.1614] [Citation(s) in RCA: 38] [Impact Index Per Article: 3.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Accepted: 08/13/2014] [Indexed: 11/09/2022]
Abstract
BACKGROUND Surgical complications such as healing problems, in fractures treated using the Arbeitsgemeinschaft für Osteosynthesefragen (AO) technique, present functional and economic challenges to patients and treatment dilemmas for surgeons. Computer-assisted orthopaedic surgery using minimally invasive techniques focused on biological osteosynthesis is a novel direction for fracture treatment. METHOD We modified the hexapod computer-assisted fracture reduction system by introducing a new reduction strategy, building a new system configuration and upgrading the corresponding software. We then validated the entire system, using a fracture model of bovine femur. RESULTS Precision tests were performed seven times on a bovine femur with a transverse fracture. Residual deviation was 1.23 ± 0.60 mm in axial deflection, 1.04 ± 0.47 mm in translation, 2.34 ± 1.79° in angulation and 2.83 ± 0.96° in rotation. CONCLUSION Our new reduction system described here is detachable, flexible and more precise in coordinate transformations. The detachable, modular design will allow for more analogous applications in the future. Copyright © 2014 John Wiley & Sons, Ltd.
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Affiliation(s)
- Hailong Du
- Department of Orthopaedics, Chinese PLA General Hospital, Beijing, People's Republic of China
| | - Lei Hu
- Robotics Institute, Beihang University, Beijing, People's Republic of China
| | - Changsheng Li
- Robotics Institute, Beihang University, Beijing, People's Republic of China
| | - Tianmiao Wang
- Robotics Institute, Beihang University, Beijing, People's Republic of China
| | - Lu Zhao
- Robotics Institute, Beihang University, Beijing, People's Republic of China
| | - Yang Li
- Robotics Institute, Beihang University, Beijing, People's Republic of China
| | - Zhi Mao
- Department of Orthopaedics, Chinese PLA General Hospital, Beijing, People's Republic of China
| | - Daohong Liu
- Department of Orthopaedics, Chinese PLA General Hospital, Beijing, People's Republic of China
| | - Lining Zhang
- Department of Orthopaedics, Chinese PLA General Hospital, Beijing, People's Republic of China
| | - Chunqing He
- Department of Orthopaedics, Chinese PLA General Hospital, Beijing, People's Republic of China
| | - Licheng Zhang
- Department of Orthopaedics, Chinese PLA General Hospital, Beijing, People's Republic of China
| | - Hongping Hou
- Department of Orthopaedics, Chinese PLA General Hospital, Beijing, People's Republic of China
| | - Lihai Zhang
- Department of Orthopaedics, Chinese PLA General Hospital, Beijing, People's Republic of China
| | - Peifu Tang
- Department of Orthopaedics, Chinese PLA General Hospital, Beijing, People's Republic of China
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25
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Du H, Hu L, Li C, He C, Zhang L, Tang P. Preoperative trajectory planning for closed reduction of long-bone diaphyseal fracture using a computer-assisted reduction system. Int J Med Robot 2014; 11:58-66. [PMID: 24677623 DOI: 10.1002/rcs.1573] [Citation(s) in RCA: 19] [Impact Index Per Article: 1.9] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Accepted: 12/08/2013] [Indexed: 11/09/2022]
Affiliation(s)
- Hailong Du
- Department of Orthopaedics; Chinese PLA General Hospital; Beijing People's Republic of China
| | - Lei Hu
- Robotics Institute; Beihang University; Beijing People's Republic of China
| | - Changsheng Li
- Robotics Institute; Beihang University; Beijing People's Republic of China
| | - Chunqing He
- Department of Orthopaedics; Chinese PLA General Hospital; Beijing People's Republic of China
| | - Lihai Zhang
- Department of Orthopaedics; Chinese PLA General Hospital; Beijing People's Republic of China
| | - Peifu Tang
- Department of Orthopaedics; Chinese PLA General Hospital; Beijing People's Republic of China
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26
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Li C, Wang T, Hu L, Zhang L, Du H, Wang L, Luan S, Tang P. Accuracy Analysis of a Robot System for Closed Diaphyseal Fracture Reduction. INT J ADV ROBOT SYST 2014. [DOI: 10.5772/59184] [Citation(s) in RCA: 14] [Impact Index Per Article: 1.4] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022] Open
Abstract
We have developed a robot system for closed diaphyseal fracture reduction. Because accuracy is essential for the treatment effects of the robot system and for the safety of both the patients and surgeons, we analysed accuracy in a systematic way. Both the structure of the robot and the operation procedure are described. Using the transfer model of errors in series and the error differential solving method for parallel mechanisms, an error model was established, and the main influencing factors of errors were considered. The Monte Carlo method was used to perform the simulation based on the error model. Experiments of image registration, of the mechanism and of the whole robot system were tested in different aspects to verify that the results of the simulation are correct. The system accuracy was compared with clinical standards to show that the robot system fulfilled the requirements for closed diaphyseal fracture reduction. The accuracy analysis method also provides an efficient path for other medical robots.
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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
| | - Lifeng Wang
- School of Mechanical Engineering and Automation, Beihang University, Beijing, China
| | - Sheng Luan
- School of Computer Science and Engineering, Beihang University, Beijing, China
| | - Peifu Tang
- Department of Orthopaedics, Chinese PLA General Hospital, Beijing, China
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27
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Du D, Liu Z, Omori S, Kurita M, Tomita T, Sugamoto K, Yoshikawa H, Murase T. Computer-aided parachute guiding system for closed reduction of diaphyseal fractures. Int J Med Robot 2013; 10:325-31. [DOI: 10.1002/rcs.1533] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.4] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/18/2012] [Revised: 06/12/2013] [Accepted: 08/12/2013] [Indexed: 11/09/2022]
Affiliation(s)
- Dajiang Du
- Department of Orthopaedic Surgery; 2nd Affiliated Hospital of Harbin Medical University; Harbin China
- Department of Orthopaedic Surgery; Osaka University Graduate School of Medicine; Japan
| | - Zhen Liu
- Scientific and Experimental Research Center; 2nd Affiliated Hospital of Harbin Medical University; Harbin China
| | - Shinsuke Omori
- Department of Orthopaedic Surgery; Osaka University Graduate School of Medicine; Japan
| | - Masahiro Kurita
- Department of Orthopaedic Surgery; Osaka University Graduate School of Medicine; Japan
| | - Tetsuya Tomita
- Department of Orthopaedic Surgery; Osaka University Graduate School of Medicine; Japan
| | - Kazuomi Sugamoto
- Department of Orthopaedic Biomaterial Science; Osaka University Graduate School of Medicine; Japan
| | - Hideki Yoshikawa
- Department of Orthopaedic Surgery; Osaka University Graduate School of Medicine; Japan
| | - Tsuyoshi Murase
- Department of Orthopaedic Surgery; Osaka University Graduate School of Medicine; Japan
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