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Bone collision detection method for robot assisted fracture reduction based on vibration excitation
Chenxu Cai1, Xuran Zheng1, Mingyang Shi1
1Key Laboratory of High Efficiency and Clean Mechanical Manufacture (Ministry of Education), School of Mechanical Engineering, Shandong University, Jinan 250061, China; National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan 250061, China.
This study introduces a novel vibration-based method to detect broken bone collisions during robotic fracture reduction. The system accurately identifies collisions, enhancing surgical safety and system reliability.
Area of Science:
- Robotics
- Biomedical Engineering
- Mechanical Vibrations
Background:
- Robotic fracture reduction systems face risks of unintended bone collisions.
- Ensuring the safety of reduction systems requires effective collision detection.
Purpose of the Study:
- To propose and validate a vibration-based collision detection method for robotic fracture reduction.
- To enhance the safety and reliability of the fracture reduction process.
Main Methods:
- Developed a two degree-of-freedom vibration response model.
- Investigated factors influencing vibration response, including excitation voltage, clamping length, soft tissue mass, and tensile force.
- Conducted single factor experiments to analyze vibration transfer performance.
Main Results:
- Increased excitation voltage linearly increased vibration amplitude.
- Soft tissue mass and tension enhanced vibration transmission between 500-1000 Hz.
- Distal clamping length significantly impacted peak frequency (74 Hz), followed by proximal (45 Hz).
- The method achieved correct collision detection under 1.2 G acceleration amplitude at 677 Hz excitation frequency.
Conclusions:
- A robust vibration-based collision detection method for broken bones was developed.
- The method demonstrates strong anti-interference capabilities.
- This technique significantly improves the safety of robotic fracture reduction procedures.
