Scholarlink

Purpose <p>Robot-assisted orthopedic reduction faces the dual challenge of achieving geometric precision while preserving physiological safety. This study presents a physiology-driven, multi-objective path-planning framework to optimize both surgical efficiency and tissue protection.</p> Methods <p>A three-zone monitoring system—Doctor-Control, Bone-Response, and Tissue-Impact—was established in animal experiments to simultaneously record robotic kinematics, bone motion, and vascular–neural physiological signals. Correlation analyses identified strong coupling between mechanical motion and physiological responses, which guided the development of a multi-objective optimization framework combining Rapidly exploring Random Tree (RRT) and Non-dominated Sorting Genetic Algorithm II (NSGA-II). The planner minimized both geometric path length and physiological disturbance.</p> Results <p>Significant relationships were observed between femur–tibia displacement and femoral (<i>r</i> = − 0.90, <i>p</i> = 0.033) and iliac (<i>r</i> = 0.89, <i>p</i> = 0.033) artery flow. Tibial and distal femur rotations markedly reduced sciatic nerve conduction amplitude (<InlineEquation ID="IEq1"> <EquationSource Format="TEX">\(r \approx - 0.9\)</EquationSource> <EquationSource Format="MATHML"><math> <mrow> <mi>r</mi> <mo>≈</mo> <mo>-</mo> <mn>0.9</mn> </mrow> </math></EquationSource> </InlineEquation>). In representative reduction scenarios, the proposed method achieved 5–15% shorter trajectories and 50–70% lower disturbance loads compared with ERRT* and MO-ERRT*.</p> Conclusion <p>The physiology-driven optimization framework enables safe and efficient robotic fracture reduction by integrating multi-modal physiological feedback into path planning. These results demonstrate its potential for intelligent, safety-aware surgical robotics.</p>

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Path planning for fracture reduction robots incorporating physiological tissue response and safety-oriented optimization

  • 期刊论文

  • 发表日期：

    2026年4月21日

查看全文
  • Pengyun Liu,
  • QianXin Wang,
  • Bin Shi,
  • Ye Peng,
  • Jianqiu Hu,
  • Shibo Cai,
  • Faqin lv,
  • Lihai Zhang

摘要

Purpose

Robot-assisted orthopedic reduction faces the dual challenge of achieving geometric precision while preserving physiological safety. This study presents a physiology-driven, multi-objective path-planning framework to optimize both surgical efficiency and tissue protection.

Methods

A three-zone monitoring system—Doctor-Control, Bone-Response, and Tissue-Impact—was established in animal experiments to simultaneously record robotic kinematics, bone motion, and vascular–neural physiological signals. Correlation analyses identified strong coupling between mechanical motion and physiological responses, which guided the development of a multi-objective optimization framework combining Rapidly exploring Random Tree (RRT) and Non-dominated Sorting Genetic Algorithm II (NSGA-II). The planner minimized both geometric path length and physiological disturbance.

Results

Significant relationships were observed between femur–tibia displacement and femoral (r = − 0.90, p = 0.033) and iliac (r = 0.89, p = 0.033) artery flow. Tibial and distal femur rotations markedly reduced sciatic nerve conduction amplitude ( \(r \approx - 0.9\) r ≈ - 0.9 ). In representative reduction scenarios, the proposed method achieved 5–15% shorter trajectories and 50–70% lower disturbance loads compared with ERRT* and MO-ERRT*.

Conclusion

The physiology-driven optimization framework enables safe and efficient robotic fracture reduction by integrating multi-modal physiological feedback into path planning. These results demonstrate its potential for intelligent, safety-aware surgical robotics.