A visual servo-based teleoperation robot system for closed diaphyseal fracture reduction

Area of Science:

• Robotics in Medicine
• Surgical Technology
• Orthopedic Surgery

Background:

• Traditional fracture treatments like open reduction and intramedullary nailing have drawbacks, including radiation exposure, delayed healing, and rotational complications.
• Robotic systems offer potential solutions but introduce new challenges in surgical procedures.

Purpose of the Study:

• To develop and evaluate a visual servo-based teleoperation robot system for precise fracture reduction.
• To address the limitations of conventional fracture fixation methods.

Main Methods:

• Development of a visual servo-based teleoperation robot system.
• Detailed analysis of the visual servo control system.
• Implementation of path planning, inverse kinematics, and force control for the reduction mechanism.
• Experimental validation using bone models and animal bone samples.

Main Results:

• The developed robot system demonstrated feasibility in experimental tests on bone models and animal bones.
• The system achieved high precision in fracture reduction using preoperative computed tomography (CT) data.
• Minimally invasive teleoperation was successfully performed, protecting surgeons from radiation.

Conclusions:

• The visual servo-based teleoperation robot system is a feasible and effective solution for fracture reduction.
• This robotic approach offers high precision, minimally invasive capabilities, and enhanced surgeon safety by reducing radiation exposure.