School of Mechanical Engineering, Chonnam National University, Gwangju, South Korea.
Medical Device and Robot Institute of Park, Kyungpook National University, Daegu, South Korea.
Proc Inst Mech Eng H. 2022 May;236(5):697-710. doi: 10.1177/09544119221083140. Epub 2022 Mar 2.
While performing musculoskeletal long bone fracture reduction surgery, assistant surgeons can often suffer from physical fatigue as they provide resistance against the tension from surrounding muscles pulling on the patient's broken bones. These days, robotic systems are being actively developed to mitigate this physical workload by realigning and holding these fractured bones for surgeons. This has led to one consortium proposing the development of a robot-assisted fracture reduction system consisting of a 6-DOF positioning robot along with a 1-DOF traction device. With the introduction of the 1-DOF traction device, the positioning robot does not have to fight these contraction forces so can be compact improving its maneuverability and overall convenience; however, considering surgeon-robot interactions, this approach adds the requirement of controlling two different types of robots simultaneously. As such, an advanced cooperative control methodology is required to control the proposed bone fracture reduction robot system. In this paper, a human-robot-robot cooperative control (HRRCC) scheme is proposed for collaboration between the surgeon, the positioning robot, and the traction device. First, the mathematical background of this HRRCC scheme is provided. Next, we describe a series of experiments that show how the proposed scheme facilitates a reduction in the load placed on the positioning robot from strong muscular contraction forces making it possible to conduct fracture reduction procedures more safely despite the muscular forces.
在进行肌肉骨骼长骨骨折复位手术时，助手外科医生常常会因周围肌肉对患者骨折部位的张力产生抵抗力而感到身体疲劳。如今，机器人系统正被积极开发出来，通过重新定位和固定这些骨折骨骼来减轻外科医生的体力劳动。这导致一个联盟提出开发一种由 6 自由度定位机器人和 1 自由度牵引装置组成的机器人辅助骨折复位系统。引入 1 自由度牵引装置后，定位机器人不必与这些收缩力作斗争，因此可以更紧凑，提高其机动性和整体便利性；然而，考虑到外科医生与机器人的交互作用，这种方法增加了同时控制两种不同类型机器人的要求。因此，需要一种先进的协同控制方法来控制所提出的骨折复位机器人系统。在本文中，提出了一种用于外科医生、定位机器人和牵引装置之间协作的人机机器人机器人协同控制 (HRRCC) 方案。首先，提供了该 HRRCC 方案的数学背景。接下来，我们描述了一系列实验，展示了所提出的方案如何有助于减少定位机器人承受的来自强烈肌肉收缩力的负载，从而即使在肌肉力的作用下，也可以更安全地进行骨折复位手术。
