Robot-assisted Minimally Invasive Total Knee Arthroplasty System
ZHANG Yinghao1, LI Weiquan1, CHEN Jiahe1, SONG Guoli2, QI Yansong3, XU Yongsheng3, WANG Junchen1
1. School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China; 2. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 3. Department of Orthopedics and Joints, People's Hospital of Inner Mongolia Autonomous Region, Hohhot 010017, China
Abstract：A robot-assisted osteotomy system for total knee arthroplasty is developed, which realizes accurate modeling of knee anatomical structures, 3-dimensional planning of preoperative osteotomy path, image registration, and intraoperative robot operation with visual navigation. Using multi-modality image fusion and active contour model segmentation technology, the automatic modeling and visualization of a knee joint including articular cartilages are realized. On this basis, 3D interactive technology is adopted to realize preoperative planning of osteotomy path. With the self-developed binocular tracking system, the 3D point cloud of articular bone surface is collected for shape registration with the preoperative 3D model to perform registration between the image space and the robot space. Finally, the robot is guided visually to complete the osteotomy operation. The experimental results show that the comprehensive positioning error of the robot system is 0.87 mm, and the osteotomy operation error is less than 1 mm.
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