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

doi:10.1002/rcs.2483

CORC > 自动化研究所 > 中国科学院自动化研究所 > 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

	Autonomous path planning for robot-assisted pelvic fracture closed reduction with collision avoidance
	Pan, Mingzhang 3; Chen, Yuan 3; Li, Zhen 1,2; Liao, Xiaolan 3; Deng, Yawen 3; Bian, Gui-Bin 1
刊名	INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY
	2022-11-30
页码	12
关键词	A* algorithm collision detection path planning pelvic closed reduction
ISSN号	1478-5951
DOI	10.1002/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 Aalgorithm'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.
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关键词	SYSTEM
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
内容类型	期刊论文
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.