A robot fracture reduction path planning method, planning system and robot

Abstract

This disclosure proposes a robot fracture reduction path planning method, planning system and robot, including the following steps: segmenting and modeling to obtain a distal bone model and a proximal bone model; copying the distal bone model to obtain a distal bone replication model ; Virtually reset the distal bone replication model and the proximal bone model to obtain a combined reduction model; construct a reduction axis with anchor points and its replication axis; bind the replication axis of the reduction axis to the distal bone replication model; Bind with the proximal bone model; take the distal model as the reference, register the combination of the replication axis and the distal bone replication model; obtain the position of the two broken bones according to the reset axis and the positioning points on the replication axis Reset track. According to the setting of the reset axis with positioning points, the matching between the distal model and the proximal model is converted into the matching of the reset axis, so that a more clinical reset trajectory can be obtained, fast and accurate reset can be achieved, and collisions during the reset process can be avoided. Reduce secondary injuries to patients.

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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