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Automatic path planning for pelvic fracture reduction with multi-degree-of-freedom.
Chao Shi1, Qing Yang2, Yuantian Wang1
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, 100083, China.
Computer Methods and Programs in Biomedicine
|January 23, 2025
Summary
This study presents a new algorithm for planning robot-assisted pelvic fracture surgery trajectories. The method efficiently plans reduction paths, improving surgical outcomes and overcoming current limitations.
Area of Science:
- Orthopedic surgery
- Robotics
- Medical imaging
Background:
- Computer-assisted orthopedic surgery and robotics enhance pelvic fracture reduction outcomes.
- Preoperative reduction path planning is crucial for robotic and manual guidance.
- Rotational motion of pelvic fragments complicates reduction surgery.
Purpose of the Study:
- Develop an efficient algorithm for automatic reduction trajectory planning in robot-assisted pelvic fracture surgery.
Main Methods:
- Obtain rotational and translational degrees of freedom for fracture fragments.
- Utilize an improved path planning method with collision detection for initial path acquisition.
- Post-process the path for shortening and smoothing.
Main Results:
- The algorithm demonstrated superior performance in collision detection, path length, smoothness, and search time.
- Reduced surrounding muscle stretching compared to existing methods.
- Validated effectiveness across diverse pelvic fracture models.
Conclusions:
- The proposed method provides a superior reduction path for pelvic fractures.
- The algorithm is effective in various complex pelvic fracture scenarios.
