Robot-patient registration for optical tracker-free robotic fracture reduction surgery.

Journal: Computer methods and programs in biomedicine
Published Date: Jan 1, 2023

Abstract

BACKGROUND AND OBJECTIVE: Image-guided robotic surgery for fracture reduction is a medical procedure in which surgeons control a surgical robot to align the fractured bones by using a navigation system that shows the rotation and distance of bone movement. In such robotic surgeries, it is necessary to estimate the relationship between the robot and patient (bone), a task known as robot-patient registration, to realize the navigation. Through the registration, a fracture state in real-world can be simulated in virtual space of the navigation system.

Authors

  • Ho-Gun Ha
    Division of Intelligent Robot, DGIST, 333 Techno Jungang-daero, Hyeonpung-myeon, Dalseong-Gun, Daegu 42988, Republic of Korea. Electronic address: hogus@dgist.ac.kr.
  • Gukyeong Han
    Department of Robotics and Mechatronics Engineering, DGIST, 333 Techno Jungang-daero, Hyeonpung-myeon, Dalseong-gun, Daegu 42988, Republic of Korea.
  • Seongpung Lee
  • Kwonsun Nam
    R&D Center, SAMICK THK Co., Ltd., Jinwi2sandan-ro, Jinwi-myeon, Pyeongtaek-si, Gyeonggi-do 17708, Republic of Korea.
  • Sanghyun Joung
    Medical Device and Robot Institute of Park, Kyungpook National University, 80 Daehakro, Bukgu, Daegu, 702-701, Korea.
  • Ilhyung Park
    Medical Device and Robot Institute of Park (MDRIP), Kyungpook National University, Daegu, South Korea.
  • Jaesung Hong
    Department of Robotics Engineering, DGIST, 333, Techno jungang-daero, Hyeonpung-myeon, Dalseong-gun, Daegu, Korea. jhong@dgist.ac.kr.

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