The Experts below are selected from a list of 45162 Experts worldwide ranked by ideXlab platform
Pei-fu Tang - One of the best experts on this subject based on the ideXlab platform.
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Evolution and Current Applications of Robot-Assisted Fracture Reduction: A Comprehensive Review
Annals of Biomedical Engineering, 2019Co-Authors: Jing-xin Zhao, Ming Hao, Hongliang Ren, Li Cheng Zhang, Changsheng Li, Pei-fu TangAbstract:Robots in orthopedic surgery have been developed rapidly for decades and bring significant benefits to the patients and healthcare providers. However, robotics in Fracture Reduction remains at the infant stage. As essential components of the current robotic system, external fixators were used in Fracture Reduction, including the unilateral and Ilizarov-like ring fixators. With emerging of the industrial robots and mechanical arms, their sterilized variants were developed as the serial robots, including the traction device and robotic arm, for Fracture Reduction. Besides, parallel robots (e.g., Gough–Stewart platform) were devised for lower extremity traction and Fracture Reduction. After combining the advantages of the serial and parallel mechanisms, hybrid robots can fulfill specific clinical requirements (e.g., the joint Fracture, including multiple major fragments). Furthermore, with the aid of intra-operative navigation systems, Fracture Reduction can be performed under real-time guidance. The paper presents a comprehensive overview of the advancement of the robots in Fracture Reduction and evaluates research challenges and future perspectives, including ergonomic and economic issues, operation time, artificial realities and intelligence, and telesurgery.
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PHYSICAL SYMMETRY AND VIRTUAL PLANE-BASED Reduction REFERENCE: A PRELIMINARY STUDY FOR ROBOT-ASSISTED PELVIC Fracture Reduction
Journal of Mechanics in Medicine and Biology, 2016Co-Authors: Wang Lifeng, Pei-fu Tang, Lihai Zhang, Tianmiao Wang, Zhao Yanpeng, Na Guo, Lu ZhaoAbstract:Traditional pelvis Fracture Reduction suffers from some disadvantages. Robot-assisted pelvis Fracture Reduction offers some promise in solving these problems. However, the Reduction reference to guide robot motion is a key issue that must be resolved. In this paper, we propose a physical symmetry and virtual plane-based Reduction reference and adopt the method of registration to calculate the virtual plane for the reference, which were verified via experiments. The results of the position symmetry experiments of the original pelvis and virtual plane-based position symmetry experiments were similar; both showed that the symmetry errors of the pelvis were less than 4mm and 2.5∘. The results indicated that the proposed method could be used as a reference for robot-assisted pelvis Fracture Reduction.
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PHYSICAL SYMMETRY AND VIRTUAL PLANE-BASED Reduction REFERENCE: A PRELIMINARY STUDY FOR ROBOT-ASSISTED PELVIC Fracture Reduction
Journal of Mechanics in Medicine and Biology, 2016Co-Authors: Lifeng Wang, Pei-fu Tang, Lihai Zhang, Tianmiao Wang, Na Guo, Yanpeng Zhao, Lu ZhaoAbstract:Traditional pelvis Fracture Reduction suffers from some disadvantages. Robot-assisted pelvis Fracture Reduction offers some promise in solving these problems. However, the Reduction reference to guide robot motion is a key issue that must be resolved. In this paper, we propose a physical symmetry and virtual plane-based Reduction reference and adopt the method of registration to calculate the virtual plane for the reference, which were verified via experiments. The results of the position symmetry experiments of the original pelvis and virtual plane-based position symmetry experiments were similar; both showed that the symmetry errors of the pelvis were less than 4[Formula: see text]mm and 2.5[Formula: see text]. The results indicated that the proposed method could be used as a reference for robot-assisted pelvis Fracture Reduction.
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A novel master–slave teleoperation robot system for diaphyseal Fracture Reduction: a preliminary study
Computer Assisted Surgery, 2016Co-Authors: Tianmiao Wang, Pei-fu Tang, Lihai Zhang, Wang Lifeng, Na Guo, Yiming TanAbstract:AbstractWe developed a novel master–slave teleoperation robot system for diaphyseal Fracture Reduction. This paper details the mechanical design and the control system as a preliminary study. The Fracture Reduction accuracy and the performance of the control system are experimentally tested. The mean error in the axial and lateral displacements was below 3 mm; the mean side angle and inward turn errors were below 4°. As a preliminary study, the feasibility of the novel master–slave teleoperation robot system for diaphyseal Fracture Reduction is verified. The robot system fulfills the Reduction requirements in accuracy and operating performance.
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Robot-musculoskeletal dynamic biomechanical model in robot-assisted diaphyseal Fracture Reduction.
Bio-Medical Materials and Engineering, 2015Co-Authors: Tianmiao Wang, Lihai Zhang, Zhao Yanpeng, Wang Lifeng, Pei-fu TangAbstract:A number of issues that exist in common Fracture Reduction surgeries can be mitigated by robot-assisted Fracture Reduction. However, the safety of patients and the performance of the robot, which are closely related to the muscle forces, are important indexes that restrict the development of robots. Though researchers have done a great deal of work on the biomechanics of the musculoskeletal system, the dynamics of the musculoskeletal system, particularly the aspects related to the function of the robot, is not well understood. For this reason, we represent the complex biological system by establishing a dynamic biomechanical model based on the Hill muscle model and the Kane method for the robot that we have developed and the musculoskeletal system. We analyzed the relationship between the motion and force of the bone fragments and the robot during a simulation of a robot-assisted Fracture Reduction. The influence of the muscle force on the robot system was predicted and managed. The simulation results provide a basis for a Fracture Reduction path plan that ensures patient safety and a useful reference for the mechanical design of the robot.
Mamoru Mitsuishi - One of the best experts on this subject based on the ideXlab platform.
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ICRA - Hazard analysis of Fracture-Reduction robot and its application to safety design of Fracture-Reduction assisting robotic system
2010 IEEE International Conference on Robotics and Automation, 2010Co-Authors: Sanghyun Joung, Mamoru Mitsuishi, Hongen Liao, Etsuko Kobayashi, Yoshikazu Nakajima, Nobuhiko Sugano, Masahiko Bessho, Satoru Ohashi, Takuya Matsumoto, Isao OhnishiAbstract:In this paper, we discuss the issue of safety in robot-assisted Fracture Reduction. We define the hazards of robot-assisted Fracture Reduction and design safety control methods. Although a large Reduction force is required to reduce femoral neck Fractures, an unexpectedly large force produced by a robot may cause injury to the patient. We have designed two mechanical failsafe units and a software force limiter; this along with velocity control can guarantee a safe operation in Reduction force. In addition, to reduce the movement of bone fragments as much as possible, we devised spatially constrained control methods for Fracture-Reduction robots. The Fracture-Reduction system was evaluated using simulated Fracture Reductions.
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Control of Fracture Reduction robot using force/torque measurement
2009Co-Authors: T. Douke, N. Sugita, S. Ohhashi, Masahiro Bessho, Kimimasa Tobita, Mamoru Mitsuishi, Shigeharu Onogi, Yusuke Mori, Y Nakajima, I. OhnishiAbstract:We have developed a surgical robotic system for femoral Fracture Reduction employing indirect traction. Indirect traction in Fracture Reduction is a generally used surgical method for preventing complications such as bone splits caused by high stress on bones. For traction, a patient's foot is gripped by a jig and pulled to the distal side. Indirect traction has the advantage of distributing bone stress by utilizing a strong traction force; however, this procedure does not accurately control the proper positioning of Fractured fragments when a surgical robot is used. The human leg has knee and an ankle joints, and thus robotic motion presents problems in not being able to directly propagate Reduction motion to a Fractured femoral fragment, rendering control of bone position difficult. We propose a control method for Fracture Reduction robots using external force/torque measurements of the human leg to achieve precise Fracture Reduction. Results showed that the proposed method reduced repositioning error from 6.8 mm and 15.9 degrees to 0.7 mm and 5.3 degrees, respectively.
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MICCAI (2) - A Robot Assisted Hip Fracture Reduction with a Navigation System
Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Inte, 2008Co-Authors: Sanghyun Joung, Mamoru Mitsuishi, Hongen Liao, Yoshikazu Nakajima, Nobuhiko Sugano, Hirokazu Kamon, Junichiro Iwaki, Touji Nakazawa, Tsuyoshi Koyama, Yuki MaedaAbstract:A Fracture Reduction robot is described as assisting in safe and precise Fracture Reduction. The robot is connected with pins that are inserted into the patient's bone fragments, together with a customized jig. The robot has six degrees of freedom with high precision, so that precise Fracture Reduction can be conducted. The failsafe unit of the Fracture Reduction robot can mitigate excessive Reduction force that may cause complications such as avascular necrosis. We have integrated the Fracture Reduction robot with a navigation system that tracks the relative position of the bone fragments and generates the Reduction path. The integrated system is evaluated with the simulated Fracture Reduction of a hip Fracture model (n=8). Three-dimensional parameters related to the mechanical axis-the proximal femur angle, the distal femur angle, and the length of the mechanical axis-were evaluated by comparing the normal values with those after Reduction; these average differences are 1.76°, 0.28° and 0.76mm, respectively. The automated Fracture Reduction feature makes it possible for medical staff to work at a distance from radiation sources; for patients, the integrated Fracture Reduction system has the potential to reduce Fractures with high precision.
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Control of Fracture Reduction robot based on biomechanical property of human leg
2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, 2008Co-Authors: T. Douke, N. Sugita, S. Ohhashi, Masahiro Bessho, Kimimasa Tobita, Mamoru Mitsuishi, Shigeharu Onogi, Yusuke Mori, Y Nakajima, I. OhnishiAbstract:For femoral Fracture Reduction, we have developed a surgical robotic system. Indirect traction is employed in our system. Indirect traction in Fracture Reduction is a generally used surgical method for preventing complications such as bone splits caused by high stress on bones. For traction, a patientpsilas foot is gripped by a jig and pulled to the distal side. Indirect traction has the advantage of distributing bone stress by utilizing a strong traction force; however, this procedure does not accurately control the proper positioning of Fractured fragments when a surgical robot is used. The human leg has knee and an ankle joints, and thus robotic motion presents problems in not being able to directly propagate Reduction motion to a Fractured femoral fragment, rendering control of bone position difficult. We propose two control methods for Fracture Reduction robots using external force/torque measurements of the human leg. First proposed method is using a transform function which transform from a force/torque space to a position space. Second is using a simple ligament model. Results showed that the first proposed method reduced repositioning error from 6.8 mm and 15.9 degrees to 0.7 mm and 5.3 degrees and second reduced from 2.1 mm to 0.9 mm.
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fluoroscopic bone fragment tracking for surgical navigation in femur Fracture Reduction by incorporating optical tracking of hip joint rotation center
IEEE Transactions on Biomedical Engineering, 2007Co-Authors: Yoshikazu Nakajima, Nobuhiko Sugano, Tsuyoshi Koyama, Kazuo Yonenobu, Y. Maeda, Yuichi Tamura, M.. Saito, Takahito Tashiro, Shinichi Tamura, Mamoru MitsuishiAbstract:A new method for fluoroscopic tracking of a proximal bone fragment in femoral Fracture Reduction is presented. The proposed method combines 2-D and 3-D image registration from single-view fluoroscopy with tracking of the head center position of the proximal femoral fragment to improve the accuracy of fluoroscopic registration without the need for repeated manual adjustment of the C-arm as required in stereo-view registrations. Kinematic knowledge of the hip joint, which has a positional correspondence with the femoral head center and the pelvis acetabular center, allows the position of the femoral fragment to be determined from pelvis tracking. The stability of the proposed method with respect to fluoroscopic image noise and the desired continuity of the Fracture Reduction operation is demonstrated, and the accuracy of tracking is shown to be superior to that achievable by single-view image registration, particularly in depth translation.
Christian Krettek - One of the best experts on this subject based on the ideXlab platform.
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Comparison of algorithms for automated femur Fracture Reduction.
The international journal of medical robotics + computer assisted surgery : MRCAS, 2017Co-Authors: Eduardo M. Suero, Ralf Westphal, Musa Citak, Christian Krettek, Nael Hawi, Emmanouil Liodakis, Mohamed Omar, Timo StuebigAbstract:Purpose We designed an experiment to determine the comparative effectiveness of computer algorithms for performing automated long bone Fracture Reduction. Methods Automated Reduction of 10 3D Fracture models was performed using two computer algorithms, random sample matching (RANSAM) and Z-buffering (Z-Buffer), and one of five options of post-processing: none; iterative closest point algorithm (ICP); ICP-X1; ICP-X2; and ICP-X3. We measured the final alignment between the two fragments for each algorithm and post-processing option. Results The RANSAM algorithm combined with postprocessing algorithm ICP-X1 or ICP-X3 resulted in the most accurate Fracture Reduction in the translational plane. No discernible difference was observed in the rotational plane. Automated Reduction had more accurate translational displacement than telemanipulated manual Reductions. Conclusion This study supports the use of the RANSAM algorithm for automated Fracture Reduction procedures. The use of ICP algorithms provides further optimization of the initial Reduction.
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Repeatability and reproducibility of a telemanipulated Fracture Reduction system.
Journal of robotic surgery, 2017Co-Authors: Eduardo M. Suero, Ralf Westphal, Musa Citak, Christian Krettek, Volker Stueber, Ullrich Lueke, Timo StuebigAbstract:We evaluate the inter- and intraobserver variability of a telemanipulated femur Fracture Reduction system using a joystick device. Five examiners performed virtual Reduction of 3D femur Fracture models on two separate occasions. We assessed the inter- and intraobserver variability for the final alignment and Reduction. The average difference between testing rounds was only 0.3 mm for overall displacement and 0.5° for overall rotation. There was an average time Reduction between rounds of 11.7 s. The mean differences in overall displacement between examiners ranged between 0.2 and 0.9 mm; between 0.2° and 3.2° for overall rotation; and between 9 and 82 s for time to Reduction. The time required to complete the Reduction did not have a significant effect on the overall displacement or rotation of the final model. Telemanipulated Fracture Reduction is a reliable and reproducible technique, which does not require extensive training.
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development of a fixation device for robot assisted Fracture Reduction of femoral shaft Fractures a biomechanical study
Technology and Health Care, 2010Co-Authors: T S Weberspickschen, Markus Oszwald, Ralf Westphal, Christian Krettek, Friedrich M. Wahl, Thomas GöslingAbstract:Robot assisted Fracture Reduction of femoral shaft Fractures provides precise alignment while reducing the amount of intraoperative imaging. The connection between the robot and the Fracture fragment should allow conventional intramedullary nailing, be minimally invasive and provide interim Fracture stability. In our study we tested three different Reduction tools: a conventional External Fixator, a Reposition-Plate and a Three-Point-Device with two variations (a 40° and a 90° version). We measured relative movements between the tools and the bone fragments in all translation and rotation planes. The Three-Point-Device 90° showed the smallest average relative displacement and was the only device able to withstand the maximum applied load of 70 Nm without failure of any bone fragment. The Three-Point-Device 90° complies with all the stipulated requirements and is a suitable interface for robot assisted Fracture Reduction of femoral shaft Fractures.
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Robot-assisted Fracture Reduction using three-dimensional intraoperative Fracture visualization: an experimental study on human cadaver femora.
Journal of orthopaedic research : official publication of the Orthopaedic Research Society, 2010Co-Authors: Markus Oszwald, Tobias Hüfner, Ralf Westphal, Christian Krettek, Jan Bredow, Friedrich M. Wahl, Afshin Calafi, Thomas GöslingAbstract:Closed Fracture Reduction can be a challenging task. Robot-assisted Reduction of the femur is a newly developed technique that could minimize potential complications and pitfalls associated with Fracture Reduction and fixation. We conducted an experimental study using 11 human cadaver femora with intact soft tissues. We compared robot-assisted Fracture Reduction using 3D visualization with manual Reduction, using 2D fluoroscopy. The main outcome measure was the accuracy of Reduction. The manual Reductions were done by an experienced orthopedic trauma surgeon, whereas the robot-assisted Reductions were done by surgeons of different experience. The robot-assisted group showed significantly less postReduction malalignment (p
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Robot-assisted Long Bone Fracture Reduction
The International Journal of Robotics Research, 2009Co-Authors: Ralf Westphal, Markus Oszwald, Friedrich Wahl, Simon Winkelbach, Tobias Hüfner, Thomas Gösling, Christian KrettekAbstract:The preferred treatment of femoral (thigh bone) shaft Fractures nowadays is the minimally invasive technique of intramedullary nailing. However, in addition to its advantages, this technique also has a number of disadvantages, such as the frequent occurrence of malaligned Fracture Reductions and high X-ray exposure, especially to the operating team. The aim of our research is to overcome these shortcomings by utilizing modern techniques such as three-dimensional (3D) imaging, navigation, and robotics. In this paper we present the current state of our interdisciplinary research project. We first introduce a telemanipulated Fracture Reduction procedure, which is based on 3D imaging data. This set-up is improved one step further towards an automated Fracture Reduction procedure. Finally, two drilling tasks, namely the opening of the medullar cavity and the distal locking of the intramedullary nail, are presented, which are supported by automated X-ray-based image analysis and robot-assisted drill guidance. We show that high Reduction accuracies can be achieved with our robotic system. Furthermore, the robot-assisted drill guidance achieves superior results with respect to increased precision and decreased X-ray exposure compared with the conventional procedure. We conclude that this surgical procedure benefits conspicuously from the support of robotic assistance systems and that further research and development in this field is worthwhile.
Tobias Hüfner - One of the best experts on this subject based on the ideXlab platform.
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Robot-assisted Fracture Reduction using three-dimensional intraoperative Fracture visualization: an experimental study on human cadaver femora.
Journal of orthopaedic research : official publication of the Orthopaedic Research Society, 2010Co-Authors: Markus Oszwald, Tobias Hüfner, Ralf Westphal, Christian Krettek, Jan Bredow, Friedrich M. Wahl, Afshin Calafi, Thomas GöslingAbstract:Closed Fracture Reduction can be a challenging task. Robot-assisted Reduction of the femur is a newly developed technique that could minimize potential complications and pitfalls associated with Fracture Reduction and fixation. We conducted an experimental study using 11 human cadaver femora with intact soft tissues. We compared robot-assisted Fracture Reduction using 3D visualization with manual Reduction, using 2D fluoroscopy. The main outcome measure was the accuracy of Reduction. The manual Reductions were done by an experienced orthopedic trauma surgeon, whereas the robot-assisted Reductions were done by surgeons of different experience. The robot-assisted group showed significantly less postReduction malalignment (p
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Robot-assisted Long Bone Fracture Reduction
The International Journal of Robotics Research, 2009Co-Authors: Ralf Westphal, Markus Oszwald, Friedrich Wahl, Simon Winkelbach, Tobias Hüfner, Thomas Gösling, Christian KrettekAbstract:The preferred treatment of femoral (thigh bone) shaft Fractures nowadays is the minimally invasive technique of intramedullary nailing. However, in addition to its advantages, this technique also has a number of disadvantages, such as the frequent occurrence of malaligned Fracture Reductions and high X-ray exposure, especially to the operating team. The aim of our research is to overcome these shortcomings by utilizing modern techniques such as three-dimensional (3D) imaging, navigation, and robotics. In this paper we present the current state of our interdisciplinary research project. We first introduce a telemanipulated Fracture Reduction procedure, which is based on 3D imaging data. This set-up is improved one step further towards an automated Fracture Reduction procedure. Finally, two drilling tasks, namely the opening of the medullar cavity and the distal locking of the intramedullary nail, are presented, which are supported by automated X-ray-based image analysis and robot-assisted drill guidance. We show that high Reduction accuracies can be achieved with our robotic system. Furthermore, the robot-assisted drill guidance achieves superior results with respect to increased precision and decreased X-ray exposure compared with the conventional procedure. We conclude that this surgical procedure benefits conspicuously from the support of robotic assistance systems and that further research and development in this field is worthwhile.
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virtual 3d planning of acetabular Fracture Reduction
Journal of Orthopaedic Research, 2008Co-Authors: Musa Citak, S Tarte, Daniel Kendoff, Lutz-peter Nolte, Christian Krettek, Michael J. Gardner, Tobias HüfnerAbstract:Displaced acetabular Fractures are best treated with open Reduction to achieve anatomic Reduction and maximize the chance of a good functional outcome. Because of the anatomic complexity and often limited visualization, Fracture Reduction can be difficult. Virtual planning software can allow the surgeon to understand the Fracture morphology and to rehearse Reduction maneuvers. The purpose of this study was to determine the effect of a novel virtual Fracture Reduction module on time and accuracy of Reduction. Four acetabular Fracture patterns were created in synthetic pelves, which were implanted with fiducial markers and were registered with CT scan. Ten surgeons used virtual Fracture Reduction software or conventional 2D planning methods and immediately reduced the Fractures blindly in a viscous gel medium. 3D imaging was again performed and the accuracy of Reduction was assessed. The average malReduction was significantly improved following planning with the virtual software compared to the standard technique. The time taken for Reduction was also significantly less for two of the four Fracture patterns. Virtual software may be useful for visualizing and planning treatment of Fractures of the acetabulum, potentially leading to more accurate and efficient Reductions, and may also be an effective educational tool.
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forces and torques during Fracture Reduction intraoperative measurements in the femur
Journal of Orthopaedic Research, 2006Co-Authors: Thomas Gösling, Christian Krettek, Friedrich M. Wahl, J. Faulstich, Rolf Westphal, Kirsten Sommer, Tobias HüfnerAbstract:Reduction is a crucial step in Fracture treatment. We determined intraoperative peak forces and torques during Fracture Reduction in seven patients with eight Fractures of the femoral shaft. All Fractures were temporarily stabilized by external fixation. Force and torque measurements were performed during the subsequent intramedullary nailing procedure. A three-dimensional load cell was attached to the distal femur fragment using two Schanz screws. All forces and torques were registered on-line during the Reduction process. The maximum resulting force was 411 N, the maximum resulting torque 74 N x m. The highest force was observed along the shaft axis with 396 N for distraction. The maximum torque value was measured around the frontal axis, being 74 N x m for antecurvature. These results may assist the development of new Reduction techniques and devices.
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A surgical telemanipulator for femur shaft Fracture Reduction.
The international journal of medical robotics + computer assisted surgery : MRCAS, 2006Co-Authors: Ralf Westphal, Simon Winkelbach, Tobias Hüfner, Thomas Gösling, Christian Krettek, J. Faulstich, P. Martin, Friedrich M. WahlAbstract:Background We present a surgical telemanipulator system supporting long bone Fracture Reduction procedures. This paper gives an overview of the robotic system developed by our working group and describes a possible workflow for telemanipulated Fracture Reduction. The concepts enabling an intuitive control of the robot using a joystick with force feedback as input device are also described. Methods With our robotic set-up we performed a test series, in order to evaluate the achievable reposition accuracies and operation times. 11 femoral shaft Fractures in seven human donors have been reduced with the telemanipulator and the results have been compared with those achieved by conventional manual and navigated manual repositions. Results All Fractures in our test series could be reduced successfully with the telemanipulator, achieving a mean rotational deviation of 4.9° in axial direction and 2.5° and 3.5° in AP and lateral direction. We could find no statistically significant difference between the accuracies achieved by the telemanipulator and those achieved by the two manual procedures. The image intensifier usage times of our telemanipulated repositions were conspicuously lower compared to the conventional manual repositions and statistically significant lower compared to the navigated repositions. Conclusion We could show that robot-assisted Fracture Reduction is possible, yielding good accuracies and a conspicuous Reduction of X-ray irradiation. However, we also show the limitations regarding reposition accuracies of telemanipulated Fracture Reduction when it is based on 2D X-ray imaging only. From the combination of 3D imaging, automated computation of the Reduction parameters, and automated force/torque guided Reduction by the robot we expect to overcome these limitations in our future work. Copyright © 2006 John Wiley & Sons, Ltd.
Tianmiao Wang - One of the best experts on this subject based on the ideXlab platform.
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External force estimation of Fracture Reduction robot based on force residual method
International Journal of Advanced Robotic Systems, 2020Co-Authors: Jingtao Lei, Gongliang Zheng, Lihai Zhang, Tianmiao WangAbstract:Robot-assisted Fracture Reduction surgery should be highly safe and accurate. It is necessary to accurately determine and control the Reduction force of the Reduction robot. In this article, a frac...
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Force/position control simulation of robot-assisted Fracture Reduction
2019 WRC Symposium on Advanced Robotics and Automation (WRC SARA), 2019Co-Authors: Gongliang Zheng, Lei Hu, Lihai Zhang, Tianmiao WangAbstract:Robotic assisted Fracture Reduction surgery has high requirements for safety and Reduction accuracy. For the Fracture Reduction operation by robot, there is a large Reduction force and the Reduction force directly affects the safety and Reduction effect. The closed-loop force/position hybrid control for the femoral Fracture by the 6-UPU robot is studied in this paper. Firstly, for the femoral shaft Fracture model, the Reduction path is planned. Based on analyzing the muscle force of the femoral shaft, the relationship between the Reduction force and the robot Reduction displacement is established. The inverse kinematics of the 6-UPU robot is derived by vector algebraic method, then the relationship between the motion parameters of each link and the moving platform is established. The closed-loop force/position hybrid control system of the robot-assisted Fracture Reduction is designed and simulated. The simulation results show that the control system can effectively control the position of the distal end of the Fracture. Considering the influence of the Reduction force, the system can achieve better Reduction accuracy, which is of great significance for the safety control of the Fracture Reduction robot.
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PHYSICAL SYMMETRY AND VIRTUAL PLANE-BASED Reduction REFERENCE: A PRELIMINARY STUDY FOR ROBOT-ASSISTED PELVIC Fracture Reduction
Journal of Mechanics in Medicine and Biology, 2016Co-Authors: Wang Lifeng, Pei-fu Tang, Lihai Zhang, Tianmiao Wang, Zhao Yanpeng, Na Guo, Lu ZhaoAbstract:Traditional pelvis Fracture Reduction suffers from some disadvantages. Robot-assisted pelvis Fracture Reduction offers some promise in solving these problems. However, the Reduction reference to guide robot motion is a key issue that must be resolved. In this paper, we propose a physical symmetry and virtual plane-based Reduction reference and adopt the method of registration to calculate the virtual plane for the reference, which were verified via experiments. The results of the position symmetry experiments of the original pelvis and virtual plane-based position symmetry experiments were similar; both showed that the symmetry errors of the pelvis were less than 4mm and 2.5∘. The results indicated that the proposed method could be used as a reference for robot-assisted pelvis Fracture Reduction.
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PHYSICAL SYMMETRY AND VIRTUAL PLANE-BASED Reduction REFERENCE: A PRELIMINARY STUDY FOR ROBOT-ASSISTED PELVIC Fracture Reduction
Journal of Mechanics in Medicine and Biology, 2016Co-Authors: Lifeng Wang, Pei-fu Tang, Lihai Zhang, Tianmiao Wang, Na Guo, Yanpeng Zhao, Lu ZhaoAbstract:Traditional pelvis Fracture Reduction suffers from some disadvantages. Robot-assisted pelvis Fracture Reduction offers some promise in solving these problems. However, the Reduction reference to guide robot motion is a key issue that must be resolved. In this paper, we propose a physical symmetry and virtual plane-based Reduction reference and adopt the method of registration to calculate the virtual plane for the reference, which were verified via experiments. The results of the position symmetry experiments of the original pelvis and virtual plane-based position symmetry experiments were similar; both showed that the symmetry errors of the pelvis were less than 4[Formula: see text]mm and 2.5[Formula: see text]. The results indicated that the proposed method could be used as a reference for robot-assisted pelvis Fracture Reduction.
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A novel master–slave teleoperation robot system for diaphyseal Fracture Reduction: a preliminary study
Computer Assisted Surgery, 2016Co-Authors: Tianmiao Wang, Pei-fu Tang, Lihai Zhang, Wang Lifeng, Na Guo, Yiming TanAbstract:AbstractWe developed a novel master–slave teleoperation robot system for diaphyseal Fracture Reduction. This paper details the mechanical design and the control system as a preliminary study. The Fracture Reduction accuracy and the performance of the control system are experimentally tested. The mean error in the axial and lateral displacements was below 3 mm; the mean side angle and inward turn errors were below 4°. As a preliminary study, the feasibility of the novel master–slave teleoperation robot system for diaphyseal Fracture Reduction is verified. The robot system fulfills the Reduction requirements in accuracy and operating performance.
