PFI-TT: Surgical Robotic System for Long Bone Fracture Alignment

PFI-TT：用于长骨骨折对齐的手术机器人系统

• 批准号: 2141099
• 负责人: Mohammad Abedin Nasab
• 金额: $ 25万
• 依托单位: Rowan University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2022
• 资助国家: 美国
• 起止时间: 2022-02-15 至 2024-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=2141099&HistoricalAwards=false
• 关键词: PFI; TT; Surgical; Robotic; System

The broader impact/commercial potential of this Partnerships for Innovation - Technology Translation (PFI-TT) project is to greatly reduce malalignments and associated complications from femoral (thigh bone) fracture surgery. More than half of all fractures occur in long bones like the femur. In the United States, 430,000 femur fractures occur annually; and globally, motor vehicle accidents cause an estimated 1-3 million femoral shaft fractures each year. Surgery to manually align long bones is arduous and difficult due to the bone’s elongated anatomy and the opposing strength of the surrounding muscles, requiring the surgeon and medical staff to exert high traction forces during the procedure. Poor alignment of the bone fragments is a potentially serious complication, and one-third of patients experiencing this require additional corrective surgery that increases costs and more complications. The proposed robot reduces healthcare costs by eliminating repeated operations and decreasing procedure times. This benefits patients, surgeons, and hospitals by improving patient outcomes and reduces the cost of care. The proposed project develops an orthopedic surgical robotic system for long-bone fracture surgeries. A malrotation of 15° or more occurs in 28% of patients. Malalignment leads to leg-length discrepancies and abnormal gait. The proposed concept consists of a surgical robot, bone-gripping system, and force-feedback controller to manipulate the robot. This enables the surgeon to accurately apply large traction forces and precisely align the fractured bone. The proposed architecture consists of a 3-armed manipulator with two wide-open rings; it facilitates positioning the leg inside the robot, providing a large workspace for surgical maneuvers. The objectives are to: (1) optimize the design to provide highly accurate alignment of bone segments and (2) develop a force-feedback controller to accurately align bone segments, coupled with software to predict muscle forces. To achieve these objectives, the research will employ mechanical design optimization, analytical modeling, computation, experimentation, and testing on cadavers. The outcome will be a robotic platform that can be further integrated with image-guided path-planning algorithms for anatomic alignment of long-bone fractures.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

该创新-技术转化合作伙伴关系（PFI-TT）项目的更广泛影响/商业潜力是大大减少股骨（大腿骨）骨折手术的对线不良和相关并发症。超过一半的骨折发生在像股骨这样的长骨上。在美国，每年发生430，000例股骨骨折;在全球范围内，机动车事故每年造成估计1-3百万例股骨干骨折。 由于骨骼的细长解剖结构和周围肌肉的相对强度，手动对齐长骨的手术是艰巨和困难的，需要外科医生和医务人员在手术期间施加高牵引力。 骨碎片对齐不良是一种潜在的严重并发症，三分之一的患者需要额外的矫正手术，这增加了成本和更多的并发症。该机器人通过消除重复操作和减少手术时间来降低医疗成本。这有利于患者，外科医生和医院通过改善患者的结果，并降低护理成本。该项目旨在开发一种用于长骨骨折手术的骨科手术机器人系统。28%的患者出现15°或以上的旋转不良。对线不良导致腿长差异和步态异常。所提出的概念包括一个手术机器人，骨夹持系统，和力反馈控制器来操纵机器人。这使得外科医生能够准确地施加大的牵引力并精确地对准骨折骨。所提出的架构包括一个3臂机械手与两个大开口环，它有利于定位腿内的机器人，提供了一个大的工作空间的手术操作。 其目标是：（1）优化设计以提供高度精确的骨段对准，以及（2）开发力反馈控制器以精确地对准骨段，结合软件以预测肌肉力。为了实现这些目标，研究将采用机械设计优化，分析建模，计算，实验和尸体测试。其成果将是一个机器人平台，可以进一步集成图像引导的路径规划算法的解剖对齐的长骨fractions.This奖项反映了NSF的法定使命，并已被认为是值得的支持，通过评估使用基金会的智力价值和更广泛的影响审查标准。

项目成果

A 3-Armed 6-DOF Parallel Robot for Femur Fracture Reduction: Trajectory and Force Testing

用于股骨骨折复位的三臂六自由度并联机器人：轨迹和力测试

• DOI: 10.1109/ismr48347.2022.9807539
• 发表时间: 2022
• 期刊: IEEE
• 作者: Alruwaili, Fayez;Saeedi-Hosseiny, Marzieh S.;Guzman, Lance;McMillan, Sean;Iordachita, Iulian I.;Abedin-Nasab, Mohammad H.
• 通讯作者: Abedin-Nasab, Mohammad H.

Analysis and Optimization of a 6-DoF 3-RRPS Parallel Mechanism for Robot-Assisted Long-Bone Fracture Surgery

• DOI: 10.1115/1.4063167
• 发表时间: 2024-06-01
• 期刊: JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
• 影响因子: 2.6
• 作者: Clancy，Michael;Alruwaili，Fayez;Abedin-Nasab，Mohammad H.
• 通讯作者: Abedin-Nasab，Mohammad H.

Automatic Alignment of Fractured Femur: Integration of Robot and Optical Tracking System

股骨骨折自动对齐：机器人与光学跟踪系统的集成

• DOI: 10.1109/lra.2023.3251198
• 发表时间: 2023
• 期刊: IEEE Robotics and Automation Letters
• 影响因子: 5.2
• 作者: Saeedi-Hosseiny, Marzieh S.;Alruwaili, Fayez;Clancy, Michael P.;Corson, Emily A.;McMillan, Sean;Papachristou, Charalampos;Bouaynaya, Nidhal C.;Iordachita, Iulian I.;Abedin-Nasab, Mohammad H.
• 通讯作者: Abedin-Nasab, Mohammad H.

A Surgical Robotic System for Long-Bone Fracture Alignment: Prototyping and Cadaver Study

• DOI: 10.1109/tmrb.2021.3129277
• 发表时间: 2022-02-01
• 期刊: IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS
• 作者: Saeedi-Hosseiny，Marzieh S.;Alruwaili，Fayez;Abedin-Nasab，Mohammad H.
• 通讯作者: Abedin-Nasab，Mohammad H.

Experimental Evaluation of a 3-Armed 6-DOF Parallel Robot for Femur Fracture Surgery

三臂六自由度并联机器人股骨骨折手术的实验评估

• DOI: 10.1142/s2424905x22410094
• 发表时间: 2022
• 期刊: Journal of Medical Robotics Research
• 作者: Alruwaili, Fayez;Saeedi-Hosseiny, Marzieh S.;Clancy, Michael;McMillan, Sean;Iordachita, Iulian I.;Abedin-Nasab, Mohammad H.
• 通讯作者: Abedin-Nasab, Mohammad H.