Robot fracture reduction method based on optical / acoustic multi-mode imaging, electromagnetic navigation and magnetic control driving

Abstract

The invention discloses a robot fracture reduction method based on optical / acoustic multi-mode imaging, electromagnetic navigation and magnetic control driving. According to the method, a multi-mode imaging technology is adopted, bone cortex and blood vessel information is obtained through photoacoustic imaging, a soft tissue structure is obtained in combination with ultrasonic imaging, and three-dimensional modeling of a fracture part and surrounding tissue is achieved; electromagnetic sensors are installed at the two ends of a fracture, the position and posture of a bone segment are obtained in real time, and accurate space positioning of the fracture broken end is achieved; in the reduction process, a controllable magnetic field is generated through an external multi-coil electromagnetic system, a magnetic response component installed at the fracture broken end is driven, and non-contact accurate alignment of the fracture broken end is achieved. After reduction is completed, positioning, drilling and implanting of the bone nail are completed through cooperation of the two mechanical arms. The precision and automation level of fracture reduction are effectively improved, dependence on experience of doctors is reduced, surgical risks and radiation exposure are reduced, and the method is particularly suitable for surgical scenes with complex fractures or narrow anatomical areas.

Description

Technical Field

[0001] The present invention relates to a fracture reduction method, in particular to a robot fracture reduction method based on light / acoustic multimodal imaging, electromagnetic navigation and magnetic control drive. Background Art

[0002] Fracture reduction and internal fixation are important procedures for treating bone injuries in modern orthopedic surgery. Traditional fracture reduction methods rely primarily on manual manipulation, X-ray fluoroscopy, and imaging techniques such as computed tomography (CT). These methods provide crucial technical support for fracture location, alignment, and internal fixation. However, existing fracture reduction and internal fixation technologies still have several shortcomings, including reliance on the surgeon's experience, limited precision, the inability to identify soft tissue in real time, and the need for repeated intraoperative fluoroscopy, which results in high radiation exposure.

[0003] In recent years, photoacoustic imaging (PAI) and ultrasound imaging have been gradually introduced into orthopedics due to their non-invasive nature, high imaging resolution, and robust soft and hard tissue identification capabilities. Photoacoustic imaging combines the advantages of optics and acoustics, generating ultrasound signals through laser excitation of bone and soft tissue, enabling high-contrast tissue imaging. Ultrasound imaging, on the other hand, provides structural information about the fracture end and surrounding soft tissue. Therefore, combined photoacoustic and ultrasound imaging can more comprehensively characterize the morphology of the fracture site and the surrounding tissues.

[0004] However, in practical applications, existing orthopedic photoacoustic-ultrasound imaging systems generally have the following technical difficulties: (1) Navigation and positioning accuracy issues: Due to the complex spatial position of the fracture ends, traditional methods that rely on manual reduction and X-ray fluoroscopy are difficult to achieve millimeter-level precision reduction and positioning. (2) Limited reduction operation: The fracture reduction process often requires large external forces or fine control, and manual operation by doctors has problems such as insufficient force control, fatigue, and accuracy fluctuations, making it difficult to maintain a stable and continuous reduction effect. (3) Insufficient system integration: Existing imaging and reduction systems mostly work independently, lacking the deep integration of multimodal imaging, intelligent navigation, and automated execution, and cannot meet the needs of modern orthopedics for efficient, precise, and minimally invasive surgery.

[0005] Existing computer-assisted navigation systems primarily utilize a combination of CT-image-reconstructed three-dimensional models and optical or electromagnetic tracking systems (computer-assisted orthopedic surgery, or CAOS). For example, early bone segment navigation technology was widely used in the oral, maxillofacial, and craniofacial regions. Infrared markers or electromagnetic sensors were attached to bone fragments to achieve three-dimensional tracking of the fracture ends. However, these technologies were primarily limited to rigid body positioning and lacked soft tissue perception. In recent years, electromagnetic navigation systems for fracture fixation (such as the TianXuan-MDTS) have also been developed, capable of real-time tracking of tools or bone segments. However, these systems still rely on X-ray fluoroscopy or CT for preoperative registration and lack the ability to dynamically identify soft tissue.

[0006] In light of these issues, magnetically controlled actuation technology has attracted widespread attention in recent years as an emerging precision manipulation method. Through the action of an external magnetic field, magnetically controlled actuation enables non-contact, precise manipulation of fracture ends or tools within the body. It offers the advantages of safety, flexibility, and minimally invasiveness, making it particularly suitable for operating in complex spaces. Therefore, the question of how to organically combine magnetically controlled actuation technology with orthopedic photoacoustic-ultrasound multimodal imaging and electromagnetic navigation technology to develop a high-precision, intelligent fracture reduction and internal fixation method has become both a hot topic and a difficult issue in the current field of intelligent orthopedic surgery. Summary of the Invention

[0007] The present invention provides a robotic fracture reduction method based on optical / acoustic multimodal imaging, electromagnetic navigation, and magnetic control drive. It aims to address the problems of insufficient reduction accuracy, reliance on physician experience, high risk of soft tissue injury, and lack of automation in existing orthopedic surgery, and provide a more intelligent, precise, and minimally invasive technical solution for fracture treatment. The method adopts multimodal imaging technology, using optical / acoustic imaging to obtain bone cortical and vascular information, combined with ultrasonic imaging to obtain soft tissue structure, to achieve three-dimensional modeling of the fracture site and surrounding tissues; by installing electromagnetic sensors at both ends of the fracture, the position and posture of the bone segments are obtained in real time, achieving precise spatial positioning of the fracture ends; during the reduction process, an external multi-coil electromagnetic system generates a controllable magnetic field to drive the magnetic response components installed at the fracture ends, achieving non-contact and precise alignment of the fracture ends; after the reduction is completed, through the collaboration of two robotic arms, one of which is used to grasp or fix the bone segment, and the other robotic arm automatically completes the positioning, drilling, and implantation of the bone screws based on the imaging and navigation data, and the entire process is closed-loop controlled. This invention effectively improves the precision and automation of fracture reduction, reduces reliance on physician experience, and reduces surgical risk and radiation exposure. It is particularly suitable for surgical scenarios involving complex fractures or confined anatomical areas. Furthermore, this invention innovatively integrates photoacoustic-ultrasound multimodal imaging, electromagnetic navigation, and magnetically controlled drive technologies into a single system, creating an integrated solution for fracture reduction and internal fixation, providing strong technical support for precision orthopedic treatment.

[0008] The purpose of the present invention is achieved through the following technical solutions:

[0009] A method for robotic fracture reduction based on optical / acoustic multimodal imaging, electromagnetic navigation, and magnetic control drive comprises the following steps:

[0010] Step 1: Preoperative modeling:

[0011] The multimodal imaging module collects image data of the fracture end and surrounding soft tissue to generate a three-dimensional reconstruction model of the fracture end; identifies the location of the fracture line and key anatomical structures, providing a data basis for subsequent path planning;

[0012] Step 2: Install the electromagnetic navigation sensor:

[0013] Fix the bone segment electromagnetic sensors on both sides of the fracture end, obtain the spatial position data of the bone segment through the electromagnetic field generator, and transmit it to the central control unit;

[0014] Step 3: Fracture reduction path planning:

[0015] The central control unit calculates the translation and rotation trajectories required for fracture reduction based on the relative positions of the bone segments and the distribution of soft tissues, and plans the path with minimal tissue damage;

[0016] Step 4: Reset the magnetic drive:

[0017] The magnetic control drive module generates a precise magnetic field, exerting magnetic force on the magnetic response components of the fracture ends, achieving non-contact fracture end reduction and adjusting the magnetic field direction in real time to achieve precise alignment.

[0018] Step 5: Real-time image monitoring:

[0019] During the repositioning process, the multimodal imaging module continues to monitor the gap between the fracture ends and the cortical bone apposition. If deviation is detected, the central control unit issues a new magnetic field control instruction to perform repositioning correction.

[0020] Step 6: Double robotic arms implant bone screws:

[0021] After the reduction is completed, the first robotic arm stably grasps the bone segment, and the second robotic arm carries the drilling tool and bone screw implanter, automatically locates the bone insertion angle according to the fracture model and navigation data, completes the drilling and implants the bone screw.

[0022] The fracture reduction method is implemented based on a fracture reduction system that combines optical / acoustic multimodal imaging, electromagnetic navigation, and magnetic control drive. The system includes a multimodal imaging module, an electromagnetic navigation module, a magnetic control drive module, a dual-manipulator operation module, and a central control unit.

[0023] The multimodal imaging module includes a photoacoustic imaging device and an ultrasonic imaging device, wherein the photoacoustic imaging device is used to obtain information about the bone cortex, blood vessels, and tissue chemistry; the ultrasonic imaging device is used to collect structural information about the soft tissue around the fracture end; and a three-dimensional model of the fracture area and surrounding tissue is generated through data fusion.

[0024] The electromagnetic navigation module includes an electromagnetic field generator and a bone segment electromagnetic sensor, wherein the bone segment electromagnetic sensors are fixed to both sides of the fracture end and are used to collect the spatial position and posture information of the bone segment in real time; the electromagnetic field generator generates a low-frequency electromagnetic field, and the bone segment electromagnetic sensor receives the signal and feeds it back to the central control unit. The central control unit calculates the relative position and angle difference of the fracture end through posture matrix operation to achieve spatial tracking of the fracture end;

[0025] The magnetically controlled drive module is composed of multiple independently drivable coil units and magnetic response components. Each coil unit is equipped with an independent current driver, which can be combined and adjusted to generate magnetic fields and gradient fields in any direction. The coil arrangement has multi-degree-of-freedom (at least three-axis translation and three-axis torque) control capabilities, applying precise torque and thrust to the magnetic response components fixed to the fracture ends within the spatial range of the bone segments, achieving minimally invasive and precise reduction of the fracture ends. The central control unit adjusts the current intensity and polarity of each coil unit as needed based on the real-time posture difference information provided by the electromagnetic navigation module, forming a closed-loop control to ensure the accuracy and stability of bone segment alignment during the reduction process.

[0026] The dual-arm operation module includes a first robotic arm and a second robotic arm, wherein: the first robotic arm is used to grasp or pull and fix the bone segment, and the second robotic arm is used to carry the drilling tool and the bone screw implanter, and under the control of the central control unit, completes the automatic positioning, drilling and implantation of the bone screw implanter based on the three-dimensional model and electromagnetic navigation data;

[0027] The central control unit is used to integrate photoacoustic imaging, ultrasound imaging and electromagnetic navigation data; establish a three-dimensional model of the fracture end and the spatial distribution of the surrounding soft tissue; calculate the displacement and rotation angle required for fracture reduction; adjust the current and magnetic field direction of the magnetic control drive module in real time; control the path and movement of the first and second robotic arms to complete the automated reduction and implantation operations.

[0028] Compared with the prior art, the present invention has the following advantages:

[0029] 1. The present invention solves the problems of insufficient precision, difficult force control and high risk of soft tissue damage in the traditional manual reduction process, realizes non-contact precise control of fracture reduction, and significantly improves the safety and accuracy of the operation.

[0030] 2. Through the combined application of photoacoustic imaging and ultrasonic imaging, the present invention can accurately identify fracture ends and surrounding soft tissues such as blood vessels and nerves in real time, providing data support for surgical path planning and avoidance.

[0031] 3. The present invention adopts electromagnetic navigation technology to achieve real-time spatial tracking of fracture ends and surgical tools, effectively reducing dependence on doctor's experience and making fracture reduction and internal fixation process more intelligent and standardized.

[0032] 4. The present invention adopts a dual-arm collaborative design. One arm is used to grasp and fix the bone segment, and the other arm automatically completes the positioning and implantation of bone screws, realizing the integrated automation of the fracture reduction and internal fixation process, reducing the operation time and the doctor's operating burden.

[0033] 5. The present invention is particularly suitable for complex fractures, pelvis, spine and other parts with complex anatomical structures. It has broad clinical application prospects and provides a new technical approach for the development of intelligent, precise and minimally invasive orthopedic surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a block diagram of the overall structure of the fracture reduction and internal fixation robot system of the present invention;

[0035] Figure 2 Schematic diagram of the structure of the multimodal imaging module;

[0036] Figure 3 It is a structural diagram of the electromagnetic navigation module;

[0037] Figure 4 It is a structural diagram of the magnetic control drive module;

[0038] In the figure: 1- multimodal imaging module, 2- electromagnetic navigation module, 3- magnetic control drive module, 4- first robotic arm, 5- second robotic arm, 6- central control unit, 7- magnetic response component, 8- electromagnetic field generator, 9- photoacoustic imaging device, 10- ultrasonic imaging device, 11- bone screw implanter, 12- drilling tool, 13- bone segment electromagnetic sensor, 14- multi-coil electromagnetic array. DETAILED DESCRIPTION

[0039] The technical solution of the present invention is further described below with reference to the accompanying drawings, but is not limited thereto. Any modification or equivalent replacement of the technical solution of the present invention that does not depart from the spirit and scope of the technical solution of the present invention should be included in the scope of protection of the present invention.

[0040] The present invention provides a method for robotic fracture reduction based on optical / acoustic multimodal imaging, electromagnetic navigation and magnetic control drive. The method first constructs a robotic fracture reduction system based on optical / acoustic multimodal imaging, electromagnetic navigation and magnetic control drive. Figure 1 As shown, the system includes a multimodal imaging module 1, an electromagnetic navigation module 2, a magnetic control drive module 3, a dual-manipulator arm operation module and a central control unit 6. By integrating multimodal imaging, electromagnetic positioning and magnetic control drive, precise reduction of fracture ends and automated internal fixation operations are achieved.

[0041] like Figure 2 As shown, the multimodal imaging module 1 includes a photoacoustic imaging device 9 and an ultrasonic imaging device 10, wherein: the photoacoustic imaging device 9 is used to obtain information about the bone cortex, blood vessels and tissue chemistry, and the photoacoustic imaging device 9 uses laser induction to generate ultrasonic signals to achieve high-contrast, high-resolution imaging. The photoacoustic imaging device 9 integrates lenses and imaging optical fibers to achieve photoacoustic high-resolution imaging of bone tissue and soft tissue; the ultrasonic imaging device 10 is used to collect structural information of the soft tissue around the fracture end. The two generate a three-dimensional model of the fracture area and surrounding tissues through data fusion, providing a basis for subsequent reduction and internal fixation path planning;

[0042] like Figure 3 As shown, the electromagnetic navigation module 2 includes an electromagnetic field generator 8 and a bone segment electromagnetic sensor 13, wherein: the bone segment electromagnetic sensor 13 is fixed on both sides of the fracture end, and is used to collect the spatial position and posture information of the bone segment in real time; the electromagnetic field generator 8 generates a low-frequency electromagnetic field, and the bone segment electromagnetic sensor 13 receives the signal and feeds it back to the central control unit 6. The central control unit 6 calculates the relative position and angle difference of the fracture end through posture matrix operation, thereby realizing spatial tracking of the fracture end.

[0043] like Figure 4 As shown, the magnetic control drive module 3 includes a multi-coil electromagnetic array 14 and a magnetic response component 7 installed on the fracture end, wherein: the multi-coil electromagnetic array 14 can independently control the current of each coil to generate a magnetic field with adjustable direction and gradient; the magnetic response component 7 is a miniature permanent magnet or soft magnetic material installed on the fracture end, which can generate torque or translational displacement under the action of an external magnetic field; the central control unit 6 drives the fracture end to achieve precise reduction by adjusting the direction and intensity of the electromagnetic field in real time according to the posture difference of the fracture end.

[0044] like Figure 1 and Figure 4As shown, the multi-coil electromagnetic array 14 is compactly arranged and has multi-dimensional magnetic field control capabilities, wherein: each set of electromagnetic coils is equipped with a current amplifier, which modulates the current size through PWM signals to achieve rapid switching of magnetic field strength and direction; the coil arrangement is optimized to generate uniform magnetic fields or magnetic field gradients in different directions, which are used to generate thrust or torque on the fracture ends.

[0045] The dual-arm operation module includes a first arm 4 and a second arm 5, wherein: the first arm 4 is used to grasp, pull or fix the bone segment to ensure the stability of the fracture end during the reduction process; the second arm 5 is used to carry the drilling tool 12 and the bone screw implanter 11, and under the control of the central control unit 6, completes the automatic positioning, drilling and implantation operations of the bone screw based on the three-dimensional model and electromagnetic navigation data; the first arm 4 and the second arm 5 are both controlled by the central control unit 6 to achieve coordinated operation.

[0046] like Figure 1 and Figure 4 As shown, the end of the second robotic arm 5 is equipped with a drilling tool 12 and a bone screw implanter 11, wherein: the drilling tool 12 has a posture adjustment mechanism, which can accurately locate the drilling direction at different angles; the bone screw implanter 11 can control the bone screw advancement depth and torque to ensure the stability and accuracy of the implantation.

[0047] like Figure 3 and Figure 4 As shown, the central control unit 6 is used to integrate photoacoustic imaging, ultrasound imaging and electromagnetic navigation data; establish a three-dimensional model of the fracture end and the spatial distribution of the surrounding soft tissue; calculate the displacement and rotation angle required for fracture reduction; adjust the current and magnetic field direction of the magnetic control drive module 3 in real time; control the path and movement of the first robotic arm 4 and the second robotic arm 5, complete the automated reduction and implantation operation, and realize closed-loop control of fracture reduction and internal fixation.

[0048] When the entire system is working, the fracture reduction and internal fixation operation includes the following steps:

[0049] Step 1: Preoperative modeling:

[0050] Through the multimodal imaging module 1, image data of the fracture end and surrounding soft tissue are collected to generate a three-dimensional reconstruction model of the fracture end; the fracture line position and key anatomical structures are identified to provide a data basis for subsequent path planning.

[0051] Step 2: Install the electromagnetic navigation sensor:

[0052] The bone segment electromagnetic sensors 13 in the electromagnetic navigation module 2 are fixed on both sides of the bone fracture ends, and the spatial posture data of the bone segment is obtained through the electromagnetic field generator 8 and transmitted to the central control unit 6.

[0053] Step 3: Fracture reduction path planning:

[0054] The central control unit 6 calculates the translation and rotation trajectories required for fracture reduction based on the relative positions of the bone segments and the distribution of soft tissues, and plans a path with minimal tissue damage.

[0055] Step 4: Reset the magnetic drive:

[0056] The magnetic control drive module 3 generates a precise magnetic field, applies magnetic force to the magnetic response component 7 of the fracture end, realizes non-contact fracture end reduction, and adjusts the direction of the magnetic field in real time to complete precise alignment.

[0057] Step 5: Real-time image monitoring:

[0058] During the resetting process, the multimodal imaging module 1 continues to monitor the gap between the broken ends and the apposition of the bone cortex; if a deviation is detected, the central control unit 6 issues a new magnetic field control instruction to perform resetting correction.

[0059] Step 6: Double robotic arms implant bone screws:

[0060] After the reduction is completed, the first robotic arm 4 stably grasps the bone segment, and the second robotic arm 5 carries the drilling tool 12 and the bone screw implanter 11, automatically locates the bone insertion angle according to the fracture model and navigation data, completes the drilling and implants the bone screw.

[0061] The present invention has the following advantages:

[0062] First, the present invention integrates photoacoustic-ultrasound imaging and electromagnetic navigation to achieve accurate three-dimensional modeling of the fracture ends and surrounding tissues, improving the intelligent level of reduction and internal fixation;

[0063] Second, the present invention adopts magnetic control drive technology to manipulate the fracture ends through non-contact magnetic force, reducing soft tissue damage and achieving minimally invasive reduction;

[0064] Third, the present invention realizes the automation of the entire process from reduction to internal fixation through the collaboration of two robotic arms, which reduces the workload of doctors and improves the efficiency and accuracy of surgery.

[0065] Fourth, the present invention is particularly suitable for surgical scenarios such as complex fractures, pelvis, and spine that are difficult to manually reduce and implant nails, and has broad clinical application prospects.

Claims

1. A robotic fracture reduction method based on optical / acoustic multimodal imaging, electromagnetic navigation and magnetic control drive, characterized in that The method comprises the following steps: Step 1: Preoperative modeling: The multimodal imaging module collects image data of the fracture end and surrounding soft tissue to generate a three-dimensional reconstruction model of the fracture end; identifies the location of the fracture line and key anatomical structures, providing a data basis for subsequent path planning; Step 2: Install the electromagnetic navigation sensor: Fix the bone segment electromagnetic sensors on both sides of the fracture end, obtain the spatial position data of the bone segment through the electromagnetic field generator, and transmit it to the central control unit; Step 3: Fracture reduction path planning: The central control unit calculates the translation and rotation trajectories required for fracture reduction based on the relative positions of the bone segments and the distribution of soft tissues, and plans the path with minimal tissue damage; Step 4: Reset the magnetic drive: The magnetic control drive module generates a precise magnetic field, exerting magnetic force on the magnetic response components of the fracture ends, achieving non-contact fracture end reduction and adjusting the magnetic field direction in real time to achieve precise alignment. Step 5: Real-time image monitoring: During the repositioning process, the multimodal imaging module continues to monitor the gap between the fracture ends and the cortical bone apposition. If deviation is detected, the central control unit issues a new magnetic field control instruction to perform repositioning correction. Step 6: Double robotic arms implant the bone screw implanter: After the reduction is completed, the first robotic arm stably grasps the bone segment, and the second robotic arm carries the drilling tool and bone screw implanter, automatically locates the bone insertion angle according to the fracture model and navigation data, completes the drilling and implants the bone screw.

2. The method for robotic fracture reduction based on optical / acoustic multimodal imaging, electromagnetic navigation and magnetic control drive according to claim 1, characterized in that The multimodal imaging module includes a photoacoustic imaging device and an ultrasonic imaging device, wherein: the photoacoustic imaging device is used to obtain bone cortex, blood vessels and tissue chemical information; the ultrasonic imaging device is used to collect structural information of the soft tissue around the fracture end; and a three-dimensional model of the fracture area and surrounding tissue is generated through data fusion.

3. The method for robotic fracture reduction based on optical / acoustic multimodal imaging, electromagnetic navigation and magnetic control drive according to claim 1, characterized in that The bone segment electromagnetic sensor is used to collect the spatial position and posture information of the bone segment in real time; the electromagnetic field generator generates a low-frequency electromagnetic field, the bone segment electromagnetic sensor receives the signal and feeds it back to the central control unit, and the central control unit calculates the relative position and angle difference of the fracture ends through posture matrix operations to achieve spatial tracking of the fracture ends.

4. The robot fracture reduction method based on optical / acoustic multimodal imaging, electromagnetic navigation and magnetic control drive according to claim 1 or 3, characterized in that The bone segment electromagnetic sensors are respectively fixed on both sides of the fracture ends.

5. The method for robotic fracture reduction based on optical / acoustic multimodal imaging, electromagnetic navigation and magnetic control drive according to claim 1, characterized in that The magnetically controlled drive module is composed of multiple independently drivable coil units and magnetic response components. The coil units are combined and adjusted to generate magnetic fields and gradient fields in arbitrary directions, applying precise torque and thrust to the magnetic response components within the spatial range of the bone segment, thereby achieving minimally invasive and precise reduction of the fracture ends. The central control unit adjusts the current intensity and polarity of each coil unit as needed based on the real-time posture difference information provided by the bone segment electromagnetic sensor, forming a closed-loop control to ensure the accuracy and stability of bone segment alignment during the reduction process.

6. The method for robotic fracture reduction based on optical / acoustic multimodal imaging, electromagnetic navigation and magnetic control drive according to claim 5, characterized in that Each coil unit is equipped with an independent current driver.

7. The method for robotic fracture reduction based on optical / acoustic multimodal imaging, electromagnetic navigation and magnetic control drive according to claim 5, characterized in that The magnetic response component is a micro permanent magnet or soft magnetic material installed on the fracture end.

8. The method for robotic fracture reduction based on optical / acoustic multimodal imaging, electromagnetic navigation and magnetic control drive according to claim 1, characterized in that The first robotic arm is used to grasp or pull and fix the bone segment, and the second robotic arm is used to carry the drilling tool and the bone screw implanter, and under the control of the central control unit, completes the automatic positioning, drilling and implantation of the bone screws based on the three-dimensional model and electromagnetic navigation data.

9. The method for robotic fracture reduction based on optical / acoustic multimodal imaging, electromagnetic navigation and magnetic control drive according to claim 8, characterized in that The end of the second robotic arm is equipped with a drilling tool and a bone screw implanter, wherein: the drilling tool has a posture adjustment mechanism, which can accurately locate the drilling direction at different angles; the bone screw implanter can control the bone screw advancement depth and torque to ensure the stability and accuracy of the implantation.

10. The robot fracture reduction method based on optical / acoustic multimodal imaging, electromagnetic navigation and magnetic control drive according to claim 1, characterized in that The central control unit is used to integrate photoacoustic imaging, ultrasound imaging and electromagnetic navigation data; establish a three-dimensional model of the fracture end and the spatial distribution of the surrounding soft tissue; calculate the displacement and rotation angle required for fracture reduction; adjust the current and magnetic field direction of the magnetic control drive module in real time; control the path and movement of the first and second robotic arms to complete the automated reduction and implantation operations.

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