An Arthroscopic Robotic System for Meniscoplasty with Autonomous Operation Ability.

IF 3.8 3区 医学 Q2 ENGINEERING, BIOMEDICAL
Zijun Zhang, Yijun Zhao, Baoliang Zhao, Gang Yu, Peng Zhang, Qiong Wang, Xiaojun Yang
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Abstract

Meniscoplasty is a common surgical procedure used to treat meniscus tears. During the operation, there are often key challenges such as a limited visual field, a narrow operating space, and difficulties in controlling the resection range. Therefore, this study developed an arthroscopic robotic system with the ability of autonomous meniscus resection to achieve better surgical outcomes. To address the issue of limited visual fields during the operation, this study used the preoperative and intraoperative meniscus point cloud images for surgical navigation and proposed a novel cross-modal point cloud registration framework. After the registration was completed, the robotic system automatically generated a resection path that could maintain the crescent shape of the remaining meniscus based on the improved Rapidly Exploring Random Tree (RRT) path-planning algorithm in this study. Meanwhile, the Remote Center of Motion (RCM) constraint was introduced during the movement of the robot to enhance safety. In this study, the mean squared error of the preoperative-intraoperative meniscus point cloud registration was only 0.1964 mm2, which meets the surgical accuracy requirements. We conducted experiments to validate the autonomous operation capabilities of the robot. The robot successfully completed motion-planning and autonomous implementation, thus demonstrating the reliability of the robotic system.

具有自主操作能力的关节镜半月板成形术机器人系统。
半月板成形术是一种治疗半月板撕裂的常用手术方法。在手术过程中,往往存在视野有限、手术空间狭窄、切除范围难以控制等关键挑战。因此,本研究开发了一种具有自主半月板切除能力的关节镜机器人系统,以获得更好的手术效果。为了解决手术中视野受限的问题,本研究利用术前和术中半月板点云图像进行手术导航,提出了一种新的跨模态点云配准框架。在配准完成后,机器人系统基于改进的快速探索随机树(rapid Exploring Random Tree, RRT)路径规划算法,自动生成能够保持剩余半月板月牙形状的切除路径。同时,在机器人运动过程中引入远程运动中心约束,提高机器人的安全性。本研究术前-术中半月板点云配准的均方误差仅为0.1964 mm2,满足手术精度要求。我们进行了实验来验证机器人的自主操作能力。该机器人成功地完成了运动规划和自主实现,从而证明了机器人系统的可靠性。
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来源期刊
Bioengineering
Bioengineering Chemical Engineering-Bioengineering
CiteScore
4.00
自引率
8.70%
发文量
661
期刊介绍: Aims Bioengineering (ISSN 2306-5354) provides an advanced forum for the science and technology of bioengineering. It publishes original research papers, comprehensive reviews, communications and case reports. Our aim is to encourage scientists to publish their experimental and theoretical results in as much detail as possible. All aspects of bioengineering are welcomed from theoretical concepts to education and applications. There is no restriction on the length of the papers. The full experimental details must be provided so that the results can be reproduced. There are, in addition, four key features of this Journal: ● We are introducing a new concept in scientific and technical publications “The Translational Case Report in Bioengineering”. It is a descriptive explanatory analysis of a transformative or translational event. Understanding that the goal of bioengineering scholarship is to advance towards a transformative or clinical solution to an identified transformative/clinical need, the translational case report is used to explore causation in order to find underlying principles that may guide other similar transformative/translational undertakings. ● Manuscripts regarding research proposals and research ideas will be particularly welcomed. ● Electronic files and software regarding the full details of the calculation and experimental procedure, if unable to be published in a normal way, can be deposited as supplementary material. ● We also accept manuscripts communicating to a broader audience with regard to research projects financed with public funds. Scope ● Bionics and biological cybernetics: implantology; bio–abio interfaces ● Bioelectronics: wearable electronics; implantable electronics; “more than Moore” electronics; bioelectronics devices ● Bioprocess and biosystems engineering and applications: bioprocess design; biocatalysis; bioseparation and bioreactors; bioinformatics; bioenergy; etc. ● Biomolecular, cellular and tissue engineering and applications: tissue engineering; chromosome engineering; embryo engineering; cellular, molecular and synthetic biology; metabolic engineering; bio-nanotechnology; micro/nano technologies; genetic engineering; transgenic technology ● Biomedical engineering and applications: biomechatronics; biomedical electronics; biomechanics; biomaterials; biomimetics; biomedical diagnostics; biomedical therapy; biomedical devices; sensors and circuits; biomedical imaging and medical information systems; implants and regenerative medicine; neurotechnology; clinical engineering; rehabilitation engineering ● Biochemical engineering and applications: metabolic pathway engineering; modeling and simulation ● Translational bioengineering
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