A motion compensation method for bi-plane robot-assisted internal fixation surgery of a femur neck fracture.

Bi-plane robots have been widely applied in clinical use to place cannulated screws for internal fixation surgery of femur neck fractures, which is performed precisely and automatically using two online fluoroscopic images. However, the setup procedure of the bi-plane robot is empirical, and physicians usually have to re-run the setup procedure, exposing the patient to high doses of radiation in clinical applications. In this article, a motion compensation method is proposed by a novel use of the binocular vision principle to improve the bi-plane robot setup using two doses of radiation within 2 min. The entry point, exit point, and angle errors of the three-dimensional trajectory reconstruction are 1.23 ± 0.39 mm, 1.49 ± 0.49 mm, and 0.33° ± 0.23°, respectively. The motion compensation method significantly reduces the dose of radiation and the operation time of the setup procedure and has acceptable accuracy.