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Trajectory optimisation with musculoskeletal integration features for fracture reduction orthopaedic robot
Rui Cui1, Jian Li2,3, Yongkang Jiang4
1School of Artificial Intelligence and Data Science and Engineering Research Center of Intelligent Rehabilitation Device and Detection Technology, Ministry of Education, Hebei University of Technology, Tianjin, China.
Summary
This study introduces a musculoskeletal trajectory optimization method for orthopedic robots, accounting for muscle interference during fracture reduction. Incorporating muscle effects enhances safety and reliability in robotic surgery.
Area of Science:
- Orthopedic Robotics
- Biomechanics
- Surgical Simulation
Background:
- Human musculoskeletal system complexity impacts robotic surgery.
- Limited research exists on muscle influence in orthopedic robot trajectory planning.
Purpose of the Study:
- To develop a musculoskeletal trajectory optimization method for fracture reduction robots.
- To account for soft tissue interference during orthopedic procedures.
Main Methods:
- Developed a musculoskeletal model using improved Hill muscle theory and FEA.
- Employed particle swarm optimization (PSO) for trajectory planning.
- Integrated muscle energy, time, and trajectory length as optimization targets.
Main Results:
- Defined a cone-shaped workspace (X: 635.14mm, Y: 720mm, Z: 240mm).
- FEA demonstrated muscle effects on robot movement.
- Optimized trajectory with muscle consideration increased reduction time (27s vs 25s).
Conclusions:
- The musculoskeletal integration method yields safe and reliable optimized trajectories.
- Muscle presence significantly influences robot trajectory, preventing uneven traction.
- Findings are valuable for future orthopedic robot trajectory planning.
