Robot-musculoskeletal dynamic biomechanical model in robot-assisted diaphyseal fracture reduction

Li, Changsheng; Wang, Tianmiao; Hu, Lei; Zhang, Lihai; Zhao, Yanpeng; Du, Hong; Wang, Lifeng; Tang, Peifu

doi:10.3233/bme-151324

Cited by 17 publications

(13 citation statements)

References 22 publications

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“…However, none have been introduced clinically. The soft tissue around the fracture, such as muscle and fat, counteracts the reduction procedure . Stress exerted on the reduction configuration also bends and deforms some of the components.…”

Section: Discussionmentioning

confidence: 99%

“…We designed several hexapod systems to execute the reduction procedure. However, the soft tissue around the fracture, such as muscle and fat, counteract the reduction procedure . In addition, stress exerted on the reduction configuration also bends and deforms some of the components leading to image drifting, which might influence the precision; therefore, how to balance the influence is an important consideration.…”

Section: Introductionmentioning

confidence: 99%

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Application of binocular visual navigation technique in diaphyseal fracture reduction

Hao

et al. 2020

Robotics Computer Surgery

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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 Micro-nTracker might lead to further application in the remote navigation field.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Application of binocular visual navigation technique in diaphyseal fracture reduction

Hao

et al. 2020

Robotics Computer Surgery

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“…During the process of femoral fracture reduction, muscle force is mainly generated from the muscle stretching, which is the main effecting factor [36]. Generally, the muscle force model is Hill three-element model [37] or Haeufle four-element model [7]. Lei et al [38] proposed a kind of four element musculoskeletal model named PA-MTM to study the biomechanical properties of the fractured femoral shaft, and the reduction path in three-dimensional space is planned by the A* algorithm.…”

Section: Dynamics Of the Reduction Robotmentioning

confidence: 99%

Fuzzy Adaptive Sliding Mode Impedance Control of Fracture Reduction Robot

Zheng

Lei

et al. 2021

IEEE Access

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With the development of robotics, it will be possible for fracture reduction robots to replace doctors in performing surgery operations. The surgery accuracy and safety by the reduction robot is important. In order to compensate various uncertainties and nonlinear problems in the reduction robot impedance control system, this paper proposes a fuzzy adaptive sliding mode impedance control of the reduction robot, which includes force residual observer (FRO) and fuzzy adaptive sliding mode controller (FASMC). The FRO is used to estimate the external force between the reduction robot and the fractured musculoskeletal tissue in real-time, no force sensor is installed at the end-effector of reduction robot. The FASMC mainly includes three parts: linearizing the system by inverse dynamics and PD control, improving the system's robustness by the sliding mode control and fuzzy adaptive switching gain to reduce chattering, eliminating the nonlinear disturbance term of the system, and the normalized factor linear combination fuzzy system is used to compensate. The co-simulation of the fracture reduction robot shows that the FASMC impedance control method has a better steady-state position and force tracking accuracy, the steady-state position accuracy is -0.733 mm, and the steady-state force accuracy is -2.12 N. This paper provides an effective method for impedance control of the fracture reduction robot.

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“…57,58 The soft tissue surrounding the bone will also be stretched to adapt to the growth of new bone tissue during the correction. 59 In order to express the characteristics of the transitional shape of the tibial limb more intuitively, the tibial limb is simplified into a truncated cone. The deformed tibia is cut into two segments at the CORA and stabilized with the fixator, 43,60 so the soft tissue around the deformed tibia is simplified into two truncated cone rigid body models with the osteotomy line as the boundary, which are defined as the proximal soft tissue and the distal soft tissue, respectively.…”

Section: Bone-fixator Systemmentioning

confidence: 99%

Influence of parameter deviation on the closeness of the tibial limb and external fixator based on a novel collision detection algorithm

Zuo

et al. 2021

Numer Methods Biomed Eng

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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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Robot-musculoskeletal dynamic biomechanical model in robot-assisted diaphyseal fracture reduction

Cited by 17 publications

References 22 publications

Application of binocular visual navigation technique in diaphyseal fracture reduction

Application of binocular visual navigation technique in diaphyseal fracture reduction

Fuzzy Adaptive Sliding Mode Impedance Control of Fracture Reduction Robot

Influence of parameter deviation on the closeness of the tibial limb and external fixator based on a novel collision detection algorithm

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