Navigation System and Human-Robot Collaborative Control Approach for A Series-Parallel Hybrid Pelvic Fracture Reduction Surgical Robot

摘要

Trauma orthopedic robotic systems play a crucial role in assisting surgeons with precise control and minimally invasive procedures. Nevertheless, key technologies such as output force, navigation, and operational performance in robot-assisted pelvic fracture reduction surgery require further development. This article introduces an improved serial-parallel hybrid robot system designed to manage the high forces involved in surgery. The system integrates surgeon remote control with autonomous robot control, improving surgical flexibility and precision. Additionally, a navigation system employing dual-view 2D-3D registration algorithms and optical tracking technology enables real-time observation of fragments for accurate reduction operations. Experimental results show that the navigation system established based on dual-view 2D-3D registration algorithms achieves an accuracy of 1.83 ± 0.03 mm, providing real-time feedback on fragment's positions. In in vitro pelvic fracture reduction experiments, the system exhibits an average reduction error of 2.27 ± 0.31 mm and 0.58 ± 0.17°, categorizing it as excellent. Meanwhile, the closed-loop control approach established can accurately track the planned path. Guided by skilled surgeons and autonomy, the proposed system significantly enhances flexibility and precision in pelvic fracture surgery, addressing both clinical and technical challenges.