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

摘要

BACKGROUND: Robot-assisted pelvic fracture closed reduction (RPFCR) positively contributes to patient treatment. However, the current path planning suffers from incomplete obstacle avoidance and long paths. METHOD: A 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. RESULTS: The 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. CONCLUSIONS: The 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.