title: A visual servo-based teleoperation robot system for closed diaphyseal fracture reduction.
abstract: 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.
authors.affiliation: School of Mechanical Engineering and Automation, Beihang University, Beijing, China.
authors.forename: Changsheng
authors.initials: C
authors.lastname: Li
authors.affiliation: School of Mechanical Engineering and Automation, Beihang University, Beijing, China.
authors.forename: Tianmiao
authors.initials: T
authors.lastname: Wang
authors.affiliation: School of Mechanical Engineering and Automation, Beihang University, Beijing, China.
authors.forename: Lei
authors.initials: L
authors.lastname: Hu
authors.affiliation: Department of Orthopaedics, Chinese PLA General Hospital, Beijing, China.
authors.forename: Lihai
authors.initials: L
authors.lastname: Zhang
authors.affiliation: Department of Orthopaedics, Chinese PLA General Hospital, Beijing, China.
authors.forename: Hailong
authors.initials: H
authors.lastname: Du
authors.affiliation: School of Mechanical Engineering and Automation, Beihang University, Beijing, China.
authors.forename: Lu
authors.initials: L
authors.lastname: Zhao
authors.affiliation: School of Mechanical Engineering and Automation, Beihang University, Beijing, China.
authors.forename: Lifeng
authors.initials: L
authors.lastname: Wang
authors.affiliation: Department of Orthopaedics, Chinese PLA General Hospital, Beijing, China kico_dredd@hotmail.com.
authors.forename: Peifu
authors.initials: P
authors.lastname: Tang
mesh_terms: D000465:Algorithms; D000818:Animals; D002417:Cattle; D004867:Equipment Design; D005592:Fracture Fixation / Q000295:instrumentation* / Q000379:methods*; D006801:Humans; D008954:Models, Biological; D065287:Robotic Surgical Procedures / Q000295:instrumentation*; D017216:Telemedicine / Q000295:instrumentation*
keywords: Visual servo-based robot; robot for diaphyseal fracture reduction; robotic-assisted surgery; teleoperation robot