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