Robot-assisted fracture reduction path planning method and planning system and robot

Abstract

The invention provides a robot-assisted fracture reduction path planning method and planning system and a robot. The method comprises the following steps of performing segmentation modeling to obtaina distal-end bone model and a proximal-end bone model; duplicating the distal-end bone model to obtain a distal-end bone duplicating model; performing virtual reduction on the distal-end bone duplicating model and the proximal-end bone model to obtain a reduction combination model; constructing a reduction axis with a positioning point and a duplicating axis of the reduction axis; binding a duplicating axis of the reduction axis with the distal-end bone duplicating model; binding the reduction axis with the proximal-end bone model; registering a combination of the duplicating axis and the distal-end bone duplicating model by taking the distal-end model as a reference; and according to the positioning points on the reduction axis and the duplicating axis of the reduction axis, obtaining reduction tracks of two broken bones. By arranging the reduction axis with the positioning point, matching between the distal-end model and the proximal-end model is converted into matching of the reduction axis, the reduction track more suitable for clinical application can be obtained, rapid and accurate reduction can be achieved, collision in the reduction process is avoided, and secondary injuries to a patient are reduced.

Description

technical field [0001] The present disclosure relates to the technical field related to surgical robots, and in particular, relates to a robot fracture reduction path planning method, a planning system and a robot. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art. [0003] Fracture reduction has always been a thorny problem in the fracture treatment process, especially under closed conditions, it is almost impossible to achieve the ideal reduction position. With the development of robotic technology, research on robot-assisted fracture reduction has been carried out at home and abroad. Correct and reasonable preoperative reduction path planning is the premise to ensure the safety of surgery, and it is of great significance to improve the accuracy of surgery and reduce the surgical injury of patients. [0004] The inventors found that using roboti...

AI Technical Summary

Problems solved by technology

However, it is impossible for the distal and proximal fracture fragments to automatically avoid collisions in a fixed state. Since the limbs are a closed space composed of skin, muscles, etc., collisions are easy to occur during the path planning process. Secondly, it is easy to appear Insufficient or excessive axis adjustment, insufficient or excessive rotation, etc., make the path planning work repeated, the robot also moves repeatedly, and it is impossible to control the surgical robot to quickly and accurately perform fracture reduction

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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