Real-time 3D Navigation-based Semi-Automatic Surgical Robotic System for Pelvic Fracture Reduction

Shi, Chunlei; Zhao, Xiangrui; Wu, Xinbao; Zhao, Chunpeng; Zhu, Gang; Shi, Shuchang; Wang, Yu

doi:10.1109/iros51168.2021.9636647

Cited by 6 publications

(9 citation statements)

References 19 publications

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“…The second step was to reduce the displaced fracture based on pelvis symmetry. The software used at this step was proved effective in our model study before [ 9 ]. According to the template reconstructed from mirroring the relatively intact hemipelvis, the software autonomously programmed a reduction trajectory to move the fractured fragment to the presumptive site ( Video S1 in the Supplementary Materials ).…”

Section: Case Reportmentioning

confidence: 99%

“…All the views illustrated a satisfactory opposition between the fragments. Furthermore, a generally available software, Geomagic Studio 2013 (Geomagic Inc., Chino, CA, USA), was used to measure the global 3D point cloud error for each set of registration result [ 9 ]. The average error was 1.18 mm, and 99.97% points revealed an error less than 4 mm.…”

Section: Case Reportmentioning

confidence: 99%

“…Our robot system consists of one central part and its assistance part. The central part has three components ( Figure 1 ): an optical tracking device, a control software including planning and navigation algorithm, which was described in our previous study [ 9 ], and a robotic arm system. The assistance part includes two components.…”

Section: Introductionmentioning

confidence: 99%

“…In the central part, the optical tracking device (NDI Polaris Vega) employs an infrared stereo camera and reference frames to acquire intraoperative 3D images and locate every operation on the pelvis. After that, the planning and navigation software [ 9 ] mirrors the healthy hemipelvis and develops a trajectory to reduce the fracture. Then, the 6-DOF robotic manipulator (UR16e) built on a mobile platform completes the reduction work under the guidance of the control software and optical tracking device by holding three Schanz screws.…”

Section: Introductionmentioning

confidence: 99%

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Robot-Assisted Autonomous Reduction of a Displaced Pelvic Fracture: A Case Report and Brief Literature Review

Zhao

Wang

et al. 2022

JCM

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Displaced pelvic fracture is among the most complicated fractures in traumatic orthopedics, with high mortality and morbidity. Reduction is considered a complex procedure as well as a key part in surgical treatment. However, few robotic techniques have been employed in the reduction of pelvic fracture, despite the rapid advancement of technologies. Recently, we designed a robot surgery system specialized in the autonomous reduction of displaced pelvic fracture and applied it in the true patient for the first time. In this paper, we report its successful clinical debut in the surgery of a displaced pelvic fracture. Total surgery time was 110 min and an anatomic reduction was achieved. We then present a brief overview of the literature about reduction techniques in pelvic fracture and introduce related principles involved in our robot-assisted reduction system.

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Section: Case Reportmentioning

confidence: 99%

Section: Case Reportmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Robot-Assisted Autonomous Reduction of a Displaced Pelvic Fracture: A Case Report and Brief Literature Review

Zhao

Wang

et al. 2022

JCM

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“…As a modern technology with high precision, reliability, and intelligence, robotics is widely used in medical, industrial, and aerospace fields. Therefore, the reduction movements during pelvic fracture closed reduction surgery can be performed by controlling the robot 4–6 …”

Section: Introductionmentioning

confidence: 99%

Autonomous path planning for robot‐assisted pelvic fracture closed reduction with collision avoidance

Pan

Chen

et al. 2022

Robotics Computer Surgery

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Background: Robot-assisted pelvic fracture closed reduction (RPFCR) positively contributes to patient treatment. However, the current path planning suffers from incomplete obstacle avoidance and long paths. Method:A collision detection method is proposed for applications in the pelvic environment to improve the safety of RPFCR surgery. Meanwhile, a defined orientation planning strategy (OPS) and linear sampling search (LSS) are coupled into the A* algorithm to optimise the reduction path. Subsequently, pelvic in vitro experimental platform is built to verify the augmented A*algorithm's feasibility. Results:The augmented A* algorithm planned the shortest path for the same fracture model, and the paths planned by the A* algorithm and experience-based increased by 56.12% and 89.02%, respectively. Conclusions:The augmented A* algorithm effectively improves surgical safety and shortens the path length, which can be adopted as an effective model for developing RPFCR path planning. K E Y W O R D SA* algorithm, collision detection, path planning, pelvic closed reduction | INTRODUCTIONUnstable pelvic fractures are the most severe injury in the body, accounting for 2%-8% of all fractures and a mortality rate of 6%-31%. 1,2 A safe and precise anatomical reduction is the cornerstone of treating pelvic fractures. 3 As a modern technology with high precision, reliability, and intelligence, robotics is widely used in medical, industrial, and aerospace fields. Therefore, the reduction movements during pelvic fracture closed reduction surgery can be performed by controlling the robot. [4][5][6] With the rapid development and application of medical robotics, 7 the path planning for robot-assisted pelvic fracture closed reduction (RPFCR) has attracted broad researchers. The RPFCR path planning can be divided into two steps: collision detection and path search.The pelvic environment is complex, with many soft and hard tissues. 8 Thus, it is necessary to detect collisions between bones or between bones and soft tissues in preoperative path planning. Meanwhile, a rational and effective path search method is required to cut the surgical intervention time.The main contribution of this paper is to propose a path-planning method for RPFCR, which improves the surgery's safety and the universality of the path planning and reduces the length of the reduction path. Firstly, the fracture model is discretised into computable point cloud data. Based on the point set of the sacrum, the space where the sacrum is located is divided into several small subspaces using the Octree data structure. Then, the point set of the dislocated ilium is traversed to conduct overlap tests with the sacral subspace to detect the collision between objects. Secondly, this paper defined an orientation planning strategy (OPS), which means changing the ilium's orientation with a small step length to avoid high reduction resistance caused by a one-time adjustment. And a linear sampling search (LSS) method is proposed to shorten the reduction path further. Finally, the

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Kalman Filter-Based EM-Optical Sensor Fusion for Bone Needle Position Tracking

Xia,

Wang,

Men

et al. 2024

IEEE Sensors J.

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Real-time 3D Navigation-based Semi-Automatic Surgical Robotic System for Pelvic Fracture Reduction

Cited by 6 publications

References 19 publications

Robot-Assisted Autonomous Reduction of a Displaced Pelvic Fracture: A Case Report and Brief Literature Review

Robot-Assisted Autonomous Reduction of a Displaced Pelvic Fracture: A Case Report and Brief Literature Review

Autonomous path planning for robot‐assisted pelvic fracture closed reduction with collision avoidance

Kalman Filter-Based EM-Optical Sensor Fusion for Bone Needle Position Tracking

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