Vision-based real-time position control of a semi-automated system for robot-assisted joint fracture surgery
Vision-based real-time position control of a semi-automated system for robot-assisted joint fracture surgery
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DOI：
10.1007/s11548-015-1296-9
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发表时间：
2016-03-01
影响因子：
3
通讯作者：
Dogramadzi, Sanja
中科院分区：
文献类型：
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作者：
Dagnino, Giulio;Georgilas, Ioannis;Dogramadzi, Sanja
目的采用高精度、高重复性的骨折碎片操作机器人系统，提高关节骨折手术质量。开发并测试了一种新的基于实时视觉的系统，用于机器人辅助骨折手术中的碎片操作。方法采用快速开环控制与视觉控制相结合的控制策略。该两阶段过程的设计是通过利用光学跟踪系统提供的视觉反馈关闭控制环来消除开环定位误差。通过机器人定位试验评估了控制系统的精度，并在离体猪模型试验中测试了骨折复位精度。结果该系统具有较高的骨折复位可靠性，复位精度为0.09mm（平移）和0.15°（旋转），最大观察误差为0.12mm（平移）和0.18°（旋转），复位重复性为0.02mm和0.03°。结论所提出的基于视觉的系统适用于真实关节骨折手术，具有提高手术质量的潜力。
Purpose Joint fracture surgery quality can be improved by robotic system with high-accuracy and high-repeatability fracture fragment manipulation. A new real-time visionbased system for fragment manipulation during robotassisted fracture surgery was developed and tested.Methods The control strategy was accomplished by merging fast open-loop control with vision-based control. This two-phase process is designed to eliminate the open-loop positioning errors by closing the control loop using visual feedback provided by an optical tracking system. Evaluation of the control system accuracy was performed using robot positioning trials, and fracture reduction accuracy was tested in trials on ex vivo porcine model.Results The system resulted in high fracture reduction reliability with a reduction accuracy of 0.09mm (translations) and of 0.15 degrees (rotations), maximum observed errors in the order of 0.12mm (translations) and of 0.18 degrees (rotations), and a reduction repeatability of 0.02mm and 0.03 degrees.Conclusions The proposed vision-based system was shown to be effective and suitable for real joint fracture surgical procedures, contributing a potential improvement of their quality.