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International Journal of Computer Assisted Radiology and Surgery

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01.03.2016 | Original Article

Vision-based real-time position control of a semi-automated system for robot-assisted joint fracture surgery

verfasst von: Giulio Dagnino, Ioannis Georgilas, Payam Tarassoli, Roger Atkins, Sanja Dogramadzi

Erschienen in: International Journal of Computer Assisted Radiology and Surgery | Ausgabe 3/2016

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Abstract

Purpose

Joint fracture surgery quality can be improved by robotic system with high-accuracy and high-repeatability fracture fragment manipulation. A new real-time vision-based system for fragment manipulation during robot-assisted 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 0.09 mm (translations) and of \(0.15^{\circ }\) (rotations), maximum observed errors in the order of 0.12 mm (translations) and of \(0.18^{\circ }\) (rotations), and a reduction repeatability of 0.02 mm and \(0.03^{\circ }\).

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.

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Titel: Vision-based real-time position control of a semi-automated system for robot-assisted joint fracture surgery
verfasst von: Giulio Dagnino
Ioannis Georgilas
Payam Tarassoli
Roger Atkins
Sanja Dogramadzi
Publikationsdatum: 01.03.2016
Verlag: Springer Berlin Heidelberg
Erschienen in: International Journal of Computer Assisted Radiology and Surgery / Ausgabe 3/2016
Print ISSN: 1861-6410
Elektronische ISSN: 1861-6429
DOI: https://doi.org/10.1007/s11548-015-1296-9

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Vision-based real-time position control of a semi-automated system for robot-assisted joint fracture surgery

Abstract

Purpose

Methods

Results

Conclusions

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Springer Medizin

Abstract

Purpose

Methods

Results

Conclusions

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