TY - JOUR
T1 - A visual servo-based teleoperation robot system for closed diaphyseal fracture reduction
AU - Li, Changsheng
AU - Wang, Tianmiao
AU - Hu, Lei
AU - Zhang, Lihai
AU - Du, Hailong
AU - Zhao, Lu
AU - Wang, Lifeng
AU - Tang, Peifu
N1 - Publisher Copyright:
© Institution of Mechanical Engineers.
PY - 2015/9/5
Y1 - 2015/9/5
N2 - Common fracture treatments include open reduction and intramedullary nailing technology. However, these methods have disadvantages such as intraoperative X-ray radiation, delayed union or nonunion and postoperative rotation. Robots provide a novel solution to the aforementioned problems while posing new challenges. Against this scientific background, we develop a visual servo-based teleoperation robot system. In this article, we present a robot system, analyze the visual servo-based control system in detail and develop path planning for fracture reduction, inverse kinematics, and output forces of the reduction mechanism. A series of experimental tests is conducted on a bone model and an animal bone. The experimental results demonstrate the feasibility of the robot system. The robot system uses preoperative computed tomography data to realize high precision and perform minimally invasive teleoperation for fracture reduction via the visual servo-based control system while protecting surgeons from radiation.
AB - Common fracture treatments include open reduction and intramedullary nailing technology. However, these methods have disadvantages such as intraoperative X-ray radiation, delayed union or nonunion and postoperative rotation. Robots provide a novel solution to the aforementioned problems while posing new challenges. Against this scientific background, we develop a visual servo-based teleoperation robot system. In this article, we present a robot system, analyze the visual servo-based control system in detail and develop path planning for fracture reduction, inverse kinematics, and output forces of the reduction mechanism. A series of experimental tests is conducted on a bone model and an animal bone. The experimental results demonstrate the feasibility of the robot system. The robot system uses preoperative computed tomography data to realize high precision and perform minimally invasive teleoperation for fracture reduction via the visual servo-based control system while protecting surgeons from radiation.
KW - Visual servo-based robot
KW - robot for diaphyseal fracture reduction
KW - robotic-assisted surgery
KW - teleoperation robot
UR - http://www.scopus.com/inward/record.url?scp=84940855814&partnerID=8YFLogxK
U2 - 10.1177/0954411915595827
DO - 10.1177/0954411915595827
M3 - Article
C2 - 26199026
AN - SCOPUS:84940855814
SN - 0954-4119
VL - 229
SP - 629
EP - 637
JO - Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine
JF - Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine
IS - 9
ER -