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Autonomous path planning for robot-assisted pelvic fracture closed reduction with collision avoidance

文献类型：期刊论文

作者Pan, Mingzhang3; Chen, Yuan3; Li, Zhen1,2; Liao, Xiaolan3; Deng, Yawen3; Bian, Gui-Bin1
刊名INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY
出版日期2022-11-30
页码12
ISSN号1478-5951
关键词A* algorithm collision detection path planning pelvic closed reduction
DOI10.1002/rcs.2483
通讯作者Bian, Gui-Bin(guibin.bian@ia.ac.cn)
英文摘要BackgroundRobot-assisted pelvic fracture closed reduction (RPFCR) positively contributes to patient treatment. However, the current path planning suffers from incomplete obstacle avoidance and long paths. MethodA collision detection method is proposed for applications in the pelvic environment to improve the safety of RPFCR surgery. Meanwhile, a defined orientation planning strategy (OPS) and linear sampling search (LSS) are coupled into the A* algorithm to optimise the reduction path. Subsequently, pelvic in vitro experimental platform is built to verify the augmented A*algorithm's feasibility. ResultsThe augmented A* algorithm planned the shortest path for the same fracture model, and the paths planned by the A* algorithm and experience-based increased by 56.12% and 89.02%, respectively. ConclusionsThe augmented A* algorithm effectively improves surgical safety and shortens the path length, which can be adopted as an effective model for developing RPFCR path planning.
WOS关键词SYSTEM
资助项目National Key Research and Development Program of China ; National Natural Science Foundation of China ; CAS Interdisciplinary Innovation Team ; Beijing Science Fund for Distinguished Young Scholars ; [2020YFB1313800] ; [62027813] ; [U20A20196] ; [62176266] ; [JCTD-2019-07] ; [JQ21016]
WOS研究方向Surgery
语种英语
出版者WILEY
WOS记录号WOS:000892360000001
资助机构National Key Research and Development Program of China ; National Natural Science Foundation of China ; CAS Interdisciplinary Innovation Team ; Beijing Science Fund for Distinguished Young Scholars
源URL[http://ir.ia.ac.cn/handle/173211/50803]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者Bian, Gui-Bin
作者单位1.Chinese Acad Sci, Inst Automat, Beijing, Peoples R China
2.Tongji Univ, Sch Elect & Informat Engn, Shanghai, Peoples R China
3.Guangxi Univ, Sch Mech Engn, Nanning, Guangxi, Peoples R China
推荐引用方式
GB/T 7714		 Pan, Mingzhang,Chen, Yuan,Li, Zhen,et al. Autonomous path planning for robot-assisted pelvic fracture closed reduction with collision avoidance[J]. INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY,2022:12.
APA Pan, Mingzhang,Chen, Yuan,Li, Zhen,Liao, Xiaolan,Deng, Yawen,&Bian, Gui-Bin.(2022).Autonomous path planning for robot-assisted pelvic fracture closed reduction with collision avoidance.INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY,12.
MLA Pan, Mingzhang,et al."Autonomous path planning for robot-assisted pelvic fracture closed reduction with collision avoidance".INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY (2022):12.

入库方式： OAI收割

来源：自动化研究所

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