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Comparison between guide plate navigation and virtual fixtures in robot-assisted osteotomy
Qing Yang1, Xisheng Weng2, Chunjie Xia3
1Key Laboratory of Biomechanics and Mechanobiology (Beihang University), Ministry of Education, Beijing Advanced Innovation Center for Biomedical Engineering, School of Biological Science and Medical Engineering, Beihang University, Beijing, China.
Computer Methods in Biomechanics and Biomedical Engineering
|August 7, 2023
Summary
Virtual Fixtures (VFs) enhance robot-assisted osteotomy accuracy compared to guide plate navigation (GPN). VFs significantly reduced mean distance and angular errors in bone cutting procedures.
Area of Science:
- Orthopedic Surgery
- Robotics in Medicine
- Surgical Navigation
Background:
- Robot-assisted surgery significantly improves cutting accuracy in orthopedic procedures.
- Techniques like guide plate navigation (GPN) and Virtual Fixtures (VFs) are employed to enhance safety and precision in bone cutting.
- Sawbones models offer a controlled environment for evaluating osteotomy techniques due to the absence of soft tissue and blood interference.
Purpose of the Study:
- To compare the accuracy and effectiveness of Virtual Fixtures (VFs) against guide plate navigation (GPN) in robot-assisted osteotomy.
- To quantify the differences in distance and angular errors between GPN and VFs during simulated bone cutting.
- To assess the potential of VFs in improving the safety and precision of robot-assisted osteotomy procedures.
Main Methods:
- Three novice operators performed plane cutting on Sawbones using robot assistance.
- Each operator completed five bone cutting attempts with both GPN and VFs.
- Distance and angular errors were meticulously recorded for each attempt and method.
Main Results:
- Both GPN and VFs demonstrated high accuracy with robot assistance.
- Virtual Fixtures (VFs) yielded superior accuracy compared to GPN.
- Mean distance error with GPN was 2.974 ± 0.282 mm and angular error was 4.737 ± 0.254°, while VFs achieved 1.857 ± 0.349 mm and 2.24 ± 0.123°, respectively.
Conclusions:
- Virtual Fixtures (VFs) significantly improve accuracy in robot-assisted osteotomy by constraining the robot's end-effector within the planned surgical area.
- VFs offer enhanced safety and precision over GPN for bone cutting tasks.
- The findings support the integration of VFs as a valuable tool for advancing robot-assisted orthopedic surgeries.
