Long-bone fractures are common complaints in orthopedic surgery.In recent years,significant progress has been made in robot-assisted fracture-reduction techniques.As a key medical device for diverse fracture morpholog...Long-bone fractures are common complaints in orthopedic surgery.In recent years,significant progress has been made in robot-assisted fracture-reduction techniques.As a key medical device for diverse fracture morphologies and sites,the design of the reduction robot has a profound impact on the reduction outcomes.However,existing reduction robots have practical limitations and cannot simultaneously satisfy clinical requirements in terms of workspace,force/torque,and structural stiffness.To overcome these problems,we first analyze the potential placement areas and performance requirements of reduction robots according to clinical application scenarios.Subsequently,a 3UPS/S-3P hybrid configuration with decoupled rotational and translational degrees of freedom(DOFs)is proposed,and a kinematic model is derived to achieve the motion characteristics of the remote center of motion(RCM).Furthermore,the structural design of a hybrid reduction robot with an integrated distal clamp and proximal fixator was completed,and a mechanical prototype was constructed.The results of the performance evaluations and static analysis demonstrate that the proposed reduction robot has acceptable workspace,force,and torque performance and excellent structural stiffness.Two clinical case simulations further demonstrated the clinical feasibility of the robot.Finally,preliminary experiments on bone models demonstrated the potential effectiveness of the proposed reduction robot in lower-limb fracture reduction.展开更多
The Fracture Reduction Robot(FRR)is a crucial component of robot-assisted fracture correction technology.However,long-term clinical experiments have identified significant challenges with the forward kinematics of the...The Fracture Reduction Robot(FRR)is a crucial component of robot-assisted fracture correction technology.However,long-term clinical experiments have identified significant challenges with the forward kinematics of the parallel FRR,notably slow computation speeds and low precision.To address these issues,this paper proposes a hybrid algorithm that integrates the Newton method with a genetic algorithm.This approach harnesses the rapid computation and high precision of the Newton method alongside the strong global convergence capabilities of the genetic algorithm.To comprehensively evaluate the performance of the proposed algorithm,comparisons are made against the analytical method and the Additional Sensor Algorithm(ASA)using identical computational examples.Additionally,iterative comparisons of iteration counts and precision are conducted between traditional numerical methods and the Newton-Genetic algorithm.Experimental results show that the Newton-Genetic algorithm achieves a balance between computation speed and precision,with an accuracy reaching the 10^(-4) mm order of magnitude,effectively meeting the clinical requirements for fracture reduction robots in medical correction.展开更多
The accuracy of a fracture reduction robot(FRR)is critical for ensuring the safety of surgery.Improving the repositioning accuracy of a FRR,reducing the error,and realizing a safer and more stable folding motion is cr...The accuracy of a fracture reduction robot(FRR)is critical for ensuring the safety of surgery.Improving the repositioning accuracy of a FRR,reducing the error,and realizing a safer and more stable folding motion is critical.To achieve this,a sparrow search algorithm(SSA)based on the Levy flight operator was proposed in this study for self-tuning the robot controller parameters.An inverse kinematic analysis of the FRR was also performed.The robot dynamics model was established using Simulink,and the inverse dynamics controller for the fracture reduction mechanism was designed using the computed torque control method.Both simulation and physical experiments were also performed.The actual motion trajectory of the actuator drive rod and its error with a desired trajectory was obtained through simulation.An optimized Levy-sparrow search algorithm(Levy-SSA)crack reduction robot controller demonstrated an overall reduction of two orders of magnitude in the reduction error,with an average error reduction of 98.74%compared with the traditional unoptimized controller.The Levy-SSA increased the convergence of the crack reduction robot control system to the optimal solution,improved the accuracy of the motion trajectory,and exhibited important implications for robot controller optimization.展开更多
This paper explores the realization of robotic motion planning, especially Findpath problem, which is a basic motion planning problem that arises in the development of robotics. Findpath means: Give the initial and de...This paper explores the realization of robotic motion planning, especially Findpath problem, which is a basic motion planning problem that arises in the development of robotics. Findpath means: Give the initial and desired final configurations of a robotic arm in 3-dimensionnl space, and give descriptions of the obstacles in the space, determine whether there is a continuous collision-free motion of the robotic arm from one configure- tion to the other and find such a motion if it exists. There are several branches of approach in motion planning area, but in reality the important things are feasibility, efficiency and accuracy of the method. In this paper ac- cording to the concepts of Configuration Space (C-Space) and Rotation Mapping Graph (RMG) discussed in [1], a topological method named Dimension Reduction Method (DRM) for investigating the connectivity of the RMG (or the topologic structure of the RMG )is presented by using topologic technique. Based on this ap- proach the Findpath problem is thus transformed to that of finding a connected way in a finite Characteristic Network (CN). The method has shown great potentiality in practice. Here a simulation system is designed to embody DRM and it is in sight that DRM can he adopted in the first overall planning of real robot sys- tem in the near future.展开更多
基金Supported by National Natural Science Foundation of China(Grant Nos.52405001,52175001,62373010,82472537)China Postdoctoral Science Foundation(Grant No.2024M760166)+2 种基金Postdoctoral Fellowship Program of CPSF(Grant No.GZC20230186)Shenzhen Municipal Science,Technology,and Innovation Commission(Grant No.SGDX20220530111005036)Beijing Natural Science Foundation(Grant Nos.3222002,3232004,L222061).
文摘Long-bone fractures are common complaints in orthopedic surgery.In recent years,significant progress has been made in robot-assisted fracture-reduction techniques.As a key medical device for diverse fracture morphologies and sites,the design of the reduction robot has a profound impact on the reduction outcomes.However,existing reduction robots have practical limitations and cannot simultaneously satisfy clinical requirements in terms of workspace,force/torque,and structural stiffness.To overcome these problems,we first analyze the potential placement areas and performance requirements of reduction robots according to clinical application scenarios.Subsequently,a 3UPS/S-3P hybrid configuration with decoupled rotational and translational degrees of freedom(DOFs)is proposed,and a kinematic model is derived to achieve the motion characteristics of the remote center of motion(RCM).Furthermore,the structural design of a hybrid reduction robot with an integrated distal clamp and proximal fixator was completed,and a mechanical prototype was constructed.The results of the performance evaluations and static analysis demonstrate that the proposed reduction robot has acceptable workspace,force,and torque performance and excellent structural stiffness.Two clinical case simulations further demonstrated the clinical feasibility of the robot.Finally,preliminary experiments on bone models demonstrated the potential effectiveness of the proposed reduction robot in lower-limb fracture reduction.
基金supported by the National Natural Science Foundation of China(52005120)the interdisciplinary Teamof Intelligent Elderly Care and Rehabilitation in the“Double first-class”Construction of Beijing University of Posts and Telecommunications in 2023(2023SYLTD04)+1 种基金the BUPT innovation andentrepreneurship support program(2024-YC-T038)the BUPT Excellent Ph.D.Students Foundation(CX2023315).
文摘The Fracture Reduction Robot(FRR)is a crucial component of robot-assisted fracture correction technology.However,long-term clinical experiments have identified significant challenges with the forward kinematics of the parallel FRR,notably slow computation speeds and low precision.To address these issues,this paper proposes a hybrid algorithm that integrates the Newton method with a genetic algorithm.This approach harnesses the rapid computation and high precision of the Newton method alongside the strong global convergence capabilities of the genetic algorithm.To comprehensively evaluate the performance of the proposed algorithm,comparisons are made against the analytical method and the Additional Sensor Algorithm(ASA)using identical computational examples.Additionally,iterative comparisons of iteration counts and precision are conducted between traditional numerical methods and the Newton-Genetic algorithm.Experimental results show that the Newton-Genetic algorithm achieves a balance between computation speed and precision,with an accuracy reaching the 10^(-4) mm order of magnitude,effectively meeting the clinical requirements for fracture reduction robots in medical correction.
基金supported by the Natural Science Foundation of Guangdong Province(2022A1515010487)Shenzhen Science and Technology Innovation Program(JCYJ20210324103800001)Shenzhen Science and Technology Innovation Program(JCYJ20220530112609022).
文摘The accuracy of a fracture reduction robot(FRR)is critical for ensuring the safety of surgery.Improving the repositioning accuracy of a FRR,reducing the error,and realizing a safer and more stable folding motion is critical.To achieve this,a sparrow search algorithm(SSA)based on the Levy flight operator was proposed in this study for self-tuning the robot controller parameters.An inverse kinematic analysis of the FRR was also performed.The robot dynamics model was established using Simulink,and the inverse dynamics controller for the fracture reduction mechanism was designed using the computed torque control method.Both simulation and physical experiments were also performed.The actual motion trajectory of the actuator drive rod and its error with a desired trajectory was obtained through simulation.An optimized Levy-sparrow search algorithm(Levy-SSA)crack reduction robot controller demonstrated an overall reduction of two orders of magnitude in the reduction error,with an average error reduction of 98.74%compared with the traditional unoptimized controller.The Levy-SSA increased the convergence of the crack reduction robot control system to the optimal solution,improved the accuracy of the motion trajectory,and exhibited important implications for robot controller optimization.
文摘This paper explores the realization of robotic motion planning, especially Findpath problem, which is a basic motion planning problem that arises in the development of robotics. Findpath means: Give the initial and desired final configurations of a robotic arm in 3-dimensionnl space, and give descriptions of the obstacles in the space, determine whether there is a continuous collision-free motion of the robotic arm from one configure- tion to the other and find such a motion if it exists. There are several branches of approach in motion planning area, but in reality the important things are feasibility, efficiency and accuracy of the method. In this paper ac- cording to the concepts of Configuration Space (C-Space) and Rotation Mapping Graph (RMG) discussed in [1], a topological method named Dimension Reduction Method (DRM) for investigating the connectivity of the RMG (or the topologic structure of the RMG )is presented by using topologic technique. Based on this ap- proach the Findpath problem is thus transformed to that of finding a connected way in a finite Characteristic Network (CN). The method has shown great potentiality in practice. Here a simulation system is designed to embody DRM and it is in sight that DRM can he adopted in the first overall planning of real robot sys- tem in the near future.
