Route planning method for robot assisted fracture reduction

Abstract

The invention relates to a route planning method for robot assisted fracture reduction. A reduction route planning method of remote fracture end posture adjustment and double-plane collision prevention based on an A* algorithm is employed. In software mimics and Geomagic studio, fracture deviation parameters are confirmed based on an uninjured side image matching method, and fracture reduction route planning based on the A* algorithm is implemented in two different coordinate planes respectively. By adopting the fracture reduction route planning method provided by the invention, large-amplitude traction of a remote end and collision of the remote fracture end with surrounding tissue in reduction can be effectively avoided, and fracture reduction operation which is short in time, high in precision and safe in collision prevention can be achieved. The method has the advantages of being simple, safe, effective and the like, is applicable to robot assisted fracture reduction operations oflong bone such as thighbone and tibiae, and is capable of improving precision and security of fracture reduction operation, improving reduction efficiency and alleviating the working intensity of doctors.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a path planning method for robot-assisted fracture reduction surgery. Background technique [0002] Surgical reduction is the means of surgical treatment of fractures. Traditional fracture reduction operations are performed by doctors under the guidance of X-ray machines, and it is difficult to achieve high precision. Closed fracture reduction, minimally invasive internal fixation for the treatment of femoral shaft fractures has the advantages of small surgical trauma, fast fracture healing, high healing rate, and low incidence of infection. However, since the fracture ends are not directly exposed, the reduction of the fracture ends, especially the rotational reduction, has always been a difficult surgical problem. [0003] With the development of robotic technology, research on robot-assisted fracture reduction has been carried out at home and abroad. In robot-assisted fracture ...

AI Technical Summary

Problems solved by technology

[0006] (2) For closed fractures, there are usually displacement deviations and angular rotation deviations

[0007] (3) In robot-assisted surgery, the limited working space and possibility of collision between the end of the robot arm and the surrounding environment are challenges for robot-assisted surgery. The end effector of the surgical robot must reach the patient's anatomical target and cannot communicate with the patient or the surrounding environment. equipment collided

In the prior art, when robot-assisted surgery is performed for reduction, the large-scale pulling of the distal end and the collision between the distal end of the fracture and surrounding tissues are prone to medical accidents, and there are still deficiencies in accuracy and safety.

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