Orthopedic robot fracture reduction trajectory planning method, device, equipment and medium

CN121867939BActive Publication Date: 2026-06-05BEIJING UNIV OF TECH
View PDF 2 Cites 0 Cited by

Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
BEIJING UNIV OF TECH
Filing Date
2026-03-19
Publication Date
2026-06-05

AI Technical Summary

Technical Problem

Traditional orthopedic robot trajectory planning methods struggle to generate trajectories that satisfy both motion smoothness and safety adaptation in complex and dynamic fracture reduction environments, especially when there are differences between the actual anatomical structure and the teaching environment, making automatic obstacle avoidance impossible.

Method used

The fracture reduction task is broken down into multiple skills, each corresponding to a dynamic motion primitive model. By acquiring the state information of the reduction environment, the system adaptively decides which skill to execute, generates sub-trajectories, and performs collision detection and adjustment in real time. The Option-Critic framework and multi-objective optimization algorithm are used to generate smooth and continuous reduction trajectories.

Benefits of technology

It achieves adaptive and smooth continuous planning of the repositioning trajectory of the parallel orthopedic robot in complex surgical environments, solving the problem in existing technologies where trajectory planning cannot balance real-time motion smoothness and scene adaptability, thus ensuring the safety and accuracy of operation.

✦ Generated by Eureka AI based on patent content.

Smart Images

  • Figure CN121867939B_ABST
    Figure CN121867939B_ABST
Patent Text Reader

Abstract

The application provides a fracture reduction trajectory planning method, device and equipment of an orthopedic robot and a medium, relates to the technical field of artificial intelligence and intelligent medical treatment, and comprises the following steps: according to a fracture reduction task, splitting a plurality of skills, acquiring reduction environment state information of the fracture reduction task, and adaptively deciding the skill to be executed currently from the plurality of skills according to the reduction environment state information; calling a dynamic motion primitive model associated with the skill, and generating a sub-trajectory corresponding to the current skill; after a termination condition of the current skill is met, updating the reduction environment state information according to the final state information of the current skill sub-trajectory, and deciding and executing the next skill until the fracture reduction task is completed, and outputting a complete reduction trajectory generated by splicing each skill sub-trajectory; and making the complete reduction trajectory generated by splicing meet motion continuity, so that the adaptive and smooth and continuous planning of the reduction trajectory of the parallel orthopedic robot in a complex operation environment is realized.
Need to check novelty before this filing date? Find Prior Art