Motion sensing based control method for bone fracture reduction robot

Inhalt:
Fracture reduction of a complex bone structure such as pelvis is the most time and effort consuming procedure in orthopedic surgery. Robotic systems have been developed to assist fracture reduction for decades. However, the human-robot interaction method is still an unaddressed issue. We proposed a touchless and intuitive interaction method based on motion sensing control for fracture reduction robot. Robot-assisted sacroiliac joint reduction experiments were conducted on artificial pelvis model. The reduction time and error were investigated with different sets of the coordinate frame and visual feedback modalities. The results showed that moving coordinate frame for rotation and fixed coordinate frame for translation provided the best performance. And the stereoscopic visual feedback had better efficiency but lower accuracy than triple 2D view visual feedback.