A motion compensation method for bi-plane robot-assisted internal fixation surgery of a femur neck fracture

• Published in: Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine Vol. 230; no. 10; p. 942
• Main Authors: Song, Jian, Ding, Hui, Han, Wei, Wang, Junqiang, Wang, Guangzhi
• Format: Journal Article
• Language: English
• Published: England 01.10.2016
• Subjects: Biomedical Engineering; Femoral Neck Fractures - diagnostic imaging; Femoral Neck Fractures - surgery; Fracture Fixation, Internal - methods; Humans; Imaging, Three-Dimensional; Models, Anatomic; Motion; Robotic Surgical Procedures - instrumentation; Robotic Surgical Procedures - methods; Bi-plane robot; internal fixation; femur neck; motion compensation; fracture
• ISSN: 2041-3033
• DOI: 10.1177/0954411916663582

Bi-plane robots have been widely applied in clinical use to place cannulated screws for internal fixation surgery of femur neck fractures, which is performed precisely and automatically using two online fluoroscopic images. However, the setup procedure of the bi-plane robot is empirical, and physicians usually have to re-run the setup procedure, exposing the patient to high doses of radiation in clinical applications. In this article, a motion compensation method is proposed by a novel use of the binocular vision principle to improve the bi-plane robot setup using two doses of radiation within 2 min. The entry point, exit point, and angle errors of the three-dimensional trajectory reconstruction are 1.23 ± 0.39 mm, 1.49 ± 0.49 mm, and 0.33° ± 0.23°, respectively. The motion compensation method significantly reduces the dose of radiation and the operation time of the setup procedure and has acceptable accuracy.