Ciszkiewicz Adam, Milewski Grzegorz
a Division of Experimental Mechanics and Biomechanics, Institute of Applied Mechanics , Cracow University of Technology , Cracow , Poland.
Comput Methods Biomech Biomed Engin. 2018 Jan;21(1):47-54. doi: 10.1080/10255842.2017.1423289. Epub 2018 Jan 10.
The aim of this study was to develop a procedure for medical tool path planning in minimally-invasive knee surgery. The collision-free paths for the tool were obtained using the control locations method with a hybrid optimization strategy. The tool and knee elements were described with surface meshes. The knee model allowed for bones displacement and variable incision size and location. The proposed procedure was proven to be effective in path planning for minimally-invasive surgery. It can serve as a valuable aid in surgery planning and may also be used in systems for autonomous or semi-autonomous knee surgery.
本研究的目的是开发一种用于微创膝关节手术中医疗工具路径规划的程序。使用具有混合优化策略的控制位置方法获得了工具的无碰撞路径。工具和膝关节元件用表面网格进行描述。膝关节模型考虑了骨骼位移以及切口大小和位置的变化。所提出的程序在微创手术路径规划中被证明是有效的。它可作为手术规划中的宝贵辅助工具，也可用于自主或半自主膝关节手术系统。
