Robot-assisted fracture space collision-avoidance reduction path planning method

A robot-assisted and path planning technology, applied in the field of robotics, can solve problems such as the inability to effectively obtain space collision avoidance paths, and achieve the effect of avoiding contact collisions and improving safety

Pending Publication Date: 2020-11-06
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, without human participation, manual or semi-automatic fracture reduction methods cannot effectively obtain a spatial collision avoidance path

Method used

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  • Robot-assisted fracture space collision-avoidance reduction path planning method
  • Robot-assisted fracture space collision-avoidance reduction path planning method
  • Robot-assisted fracture space collision-avoidance reduction path planning method

Examples

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Effect test

Embodiment 1

[0046] see Figure 1-Figure 9 , a robot-assisted fracture space collision avoidance reset path planning method, for spiral fractures of long bones, according to the bone image registration of the healthy side, the displacement deviation and rotation deviation of the fracture are determined, the proximal end of the fracture is firmly fixed, and the distal end of the fracture is assisted by the robot. With reference to the "stretch-rotation-reset" technique used by orthopedic surgeons in actual fracture operations, the robot-assisted long bone spiral fracture reduction operation process is decomposed into three parts: "move-rotate-move". step:

[0047] 1) "Move" reset:

[0048] The A* algorithm in three-dimensional space is used for planning, and during the reset process, follow the reset path planned in three-dimensional space to avoid obstacles that may appear on the reset path;

[0049] 2) Rotation attitude adjustment:

[0050] When the distal end of the fracture moves to ...

Embodiment 2

[0054] This embodiment is basically the same as Embodiment 1, and the special features are as follows:

[0055] Before the fracture reduction path planning, a registration algorithm based on the bone image of the healthy side is used, and Mimics and Geomagic studio software are used to determine the spatial position deviation and posture deviation of the distal end of the fracture relative to the proximal end, and through the CT scan data, in the Mimics software Reverse reconstruction generates a 3D digital model of the distal end, proximal end, and healthy bone of the fracture, uses the "Mirror" function in Mimics software to generate a mirror image of the healthy bone, and uses the mirrored healthy bone as a benchmark to align the proximal fracture with it. After registration and fixation, import the 3D digital model including the distal end, proximal end and healthy bone of the fracture into Geomagic studio software, select the distal feature point as the origin of the refer...

Embodiment 3

[0057] This embodiment is basically the same as the above-mentioned embodiment, and the special features are as follows:

[0058] The reset adopts the A* algorithm in three-dimensional space to carry out path planning, and the specific operation steps of the step 1) "moving" reset are:

[0059] (1) The spatial positions of the proximal and distal ends of the fracture are known, represented by the position of a certain feature point on the proximal and distal ends respectively, and the attitude of the proximal and distal ends of the fracture relative to the set reference reference coordinate system, The position and shape of obstacles, etc.; set the starting point of reset path planning as O 1 , the target point is O 2 ;

[0060] (2) First, determine the middle point O of the distal end of the fracture after the first "move" operation mid , the middle position should avoid collision between the distal end and the surrounding biological tissues during the subsequent posture a...

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Abstract

The invention relates to a robot-assisted fracture space collision-avoidance reduction path planning method. The method comprises the following steps: aiming at a long bone spiral fracture type and the position and posture deviation of a fracture far end relative to a near end after the long bone spiral fracture, utilizing Mimics and Geographic studio software to determine a reduction path by a method based on uninjured side bone image registration, wherein the fracture near end is firmly fixed, and robot-assisted reduction operation of the fracture far end is divided into three steps of moving, rotating and moving relative to the fracture near end. The reduction path of the fracture far end is determined by adopting a three-dimensional space A * algorithm. The fracture distal end is rotated relative to the near end to adjust the pose of the fracture distal end until the fracture distal end and near end reach an ideal anatomical state. According to the method, the position and posturedeviation of the far end of the fracture relative to the near end after the long bone spiral fracture is considered, meanwhile, obstacles possibly occurring in the reduction process are considered, contact and collision in the robot-assisted fracture reduction process are avoided, and the safety of robot reduction operation is effectively improved.

Description

technical field [0001] The invention relates to a space collision avoidance reset path planning method for robot-assisted fracture reset, belonging to the technical field of robots. Background technique [0002] Fracture reduction surgery is an effective method for the treatment of bone trauma. The effect of traditional fracture reduction surgery mainly depends on the experience of doctors. There are shortcomings such as low surgical accuracy, radiation exposure to both the doctor and the patient, and many postoperative complications. [0003] With the development of robot technology and computer-aided navigation technology, it is possible for robots to assist doctors to complete high-precision fracture reduction operations. Compared with traditional surgery, robot-assisted fracture reduction surgery has significant advantages and has broad application prospects. The reset robot can assist doctors to perform reset operations according to the pre-planned reset path, effectiv...

Claims

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Application Information

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IPC IPC(8): A61B34/10A61B34/20A61B34/30
CPCA61B34/10A61B34/20A61B34/30A61B2034/104A61B2034/252A61B2034/254
Inventor 雷静桃许海飞
Owner SHANGHAI UNIV
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