The success of robot-assisted pelvic fracture reduction surgery heavily relies on the accuracy of 3D/3D feature-based registration.This process involves extracting anatomical feature points from pre-operative 3D image...The success of robot-assisted pelvic fracture reduction surgery heavily relies on the accuracy of 3D/3D feature-based registration.This process involves extracting anatomical feature points from pre-operative 3D images which can be challenging because of the complex and variable structure of the pelvis.PointMLP_RegNet,a modified PointMLP,was introduced to address this issue.It retains the feature extraction module of PointMLP but replaces the classification layer with a regression layer to predict the coordinates of feature points instead of conducting regular classification.A flowchart for an automatic feature points extraction method was presented,and a series of experiments was conducted on a clinical pelvic dataset to confirm the accuracy and effectiveness of the method.PointMLP_RegNet extracted feature points more accurately,with 8 out of 10 points showing less than 4 mm errors and the remaining two less than 5 mm.Compared to PointNettt and PointNet,it exhibited higher accuracy,robustness and space efficiency.The proposed method will improve the accuracy of anatomical feature points extraction,enhance intra-operative registration precision and facilitate the widespread clinical application of robot-assisted pelvic fracture reduction.展开更多
During the robot-assisted pelvic fracture reduction,the needle-tissue interactive deformation characteristic is not clear,which affects the accuracy of robotic surgery.In this paper,a layered rig-id-flexible coupling ...During the robot-assisted pelvic fracture reduction,the needle-tissue interactive deformation characteristic is not clear,which affects the accuracy of robotic surgery.In this paper,a layered rig-id-flexible coupling model is proposed,and the needle-tissue interactive deformation under the load-ing is analyzed by the Rayleigh-Ritz method,in accordance with the principle of minimum potential energy.The pelvic musculoskeletal tissue is reversely reconstructed,and the structure of the bone is segmented into cancellous bone and cortical bone.The Mooney-Rivlin five-parameter hyperelastic model is used to simulate muscle,and the Ogden hyperelastic model is used to simulate adipose tis-sue.Finite element simulation is performed by loading different magnitudes of forces.The accuracy of the rigid-flexible coupling model is 0.432 mm,which indicates the correctness of the needle-tis-sue interactive deformation theory analysis.展开更多
Pelvic fracture is among the most complicated fractures in traumatic orthopedics,with high mortality and morbidity rates.The main difficulty associated with the reduction surgery is significant muscle resistance.It th...Pelvic fracture is among the most complicated fractures in traumatic orthopedics,with high mortality and morbidity rates.The main difficulty associated with the reduction surgery is significant muscle resistance.It then becomes necessary to decrease the reduction force against this strong muscle resistance,for improving surgical safety.Here,we propose a novel traction method for decreasing the reduction force during pelvic reduction,and investigate the performance of the elastic traction method on decreasing the reduction force using experimental tests and simulation-based analyses.From the experimental results,the reduction force decreased by 59.2%when 10 kg of elastic traction was applied.We also establish a musculoskeletal model of the pelvic fracture reduction,for analyzing the muscle resistance and the optimal traction force applied in reduction surgeries.The elastic traction method can counteract the muscle resistance increase in the non-traction direction owing to its flexibility.We conclude that the optimal traction force applied should be in the 10–15 kg range,and recommend adopting a dynamic traction strategy rather than continuous traction in clinical settings.Elastic traction is very promising for various surgeries that require traction,including pelvic reduction.It significantly reduces force,which can significantly reduce the physical exertion of the operating surgeon,the possibility of additional injuries to the operated patient,and promotes robot-assisted reduction surgeries.展开更多
基金supported by the National Key Research and Development Program of China(Grant No.2020YFB1313800)the National Science Foundation of China(Grant No.NSFC62373259)+1 种基金the Natural Science Foundation of Top Talent of SZTU(Grant No.GDRC202303)the Education Promotion Foundation of Guangdong Province(Grant No.2022ZDJS115).
文摘The success of robot-assisted pelvic fracture reduction surgery heavily relies on the accuracy of 3D/3D feature-based registration.This process involves extracting anatomical feature points from pre-operative 3D images which can be challenging because of the complex and variable structure of the pelvis.PointMLP_RegNet,a modified PointMLP,was introduced to address this issue.It retains the feature extraction module of PointMLP but replaces the classification layer with a regression layer to predict the coordinates of feature points instead of conducting regular classification.A flowchart for an automatic feature points extraction method was presented,and a series of experiments was conducted on a clinical pelvic dataset to confirm the accuracy and effectiveness of the method.PointMLP_RegNet extracted feature points more accurately,with 8 out of 10 points showing less than 4 mm errors and the remaining two less than 5 mm.Compared to PointNettt and PointNet,it exhibited higher accuracy,robustness and space efficiency.The proposed method will improve the accuracy of anatomical feature points extraction,enhance intra-operative registration precision and facilitate the widespread clinical application of robot-assisted pelvic fracture reduction.
基金the National Key R&D Program of China(No.2020YFB1313803).
文摘During the robot-assisted pelvic fracture reduction,the needle-tissue interactive deformation characteristic is not clear,which affects the accuracy of robotic surgery.In this paper,a layered rig-id-flexible coupling model is proposed,and the needle-tissue interactive deformation under the load-ing is analyzed by the Rayleigh-Ritz method,in accordance with the principle of minimum potential energy.The pelvic musculoskeletal tissue is reversely reconstructed,and the structure of the bone is segmented into cancellous bone and cortical bone.The Mooney-Rivlin five-parameter hyperelastic model is used to simulate muscle,and the Ogden hyperelastic model is used to simulate adipose tis-sue.Finite element simulation is performed by loading different magnitudes of forces.The accuracy of the rigid-flexible coupling model is 0.432 mm,which indicates the correctness of the needle-tis-sue interactive deformation theory analysis.
基金This work was supported by Key research and development plan of the Ministry of science and technology of China[2019YFC0118002]National Natural Science Foundation(NSFC)Grant of China[61871019]+1 种基金Beijing science and technology project[Z18110001918024]Natural Science Foundation of Beijing[19L2011].
文摘Pelvic fracture is among the most complicated fractures in traumatic orthopedics,with high mortality and morbidity rates.The main difficulty associated with the reduction surgery is significant muscle resistance.It then becomes necessary to decrease the reduction force against this strong muscle resistance,for improving surgical safety.Here,we propose a novel traction method for decreasing the reduction force during pelvic reduction,and investigate the performance of the elastic traction method on decreasing the reduction force using experimental tests and simulation-based analyses.From the experimental results,the reduction force decreased by 59.2%when 10 kg of elastic traction was applied.We also establish a musculoskeletal model of the pelvic fracture reduction,for analyzing the muscle resistance and the optimal traction force applied in reduction surgeries.The elastic traction method can counteract the muscle resistance increase in the non-traction direction owing to its flexibility.We conclude that the optimal traction force applied should be in the 10–15 kg range,and recommend adopting a dynamic traction strategy rather than continuous traction in clinical settings.Elastic traction is very promising for various surgeries that require traction,including pelvic reduction.It significantly reduces force,which can significantly reduce the physical exertion of the operating surgeon,the possibility of additional injuries to the operated patient,and promotes robot-assisted reduction surgeries.
