Automatic path planning for pelvic fracture reduction with multi-degree-of-freedom

• Published in: Computer methods and programs in biomedicine Vol. 261; p. 108591
• Main Authors: Shi, Chao, Yang, Qing, Wang, Yuantian, Zhao, Xiangrui, Shi, Shuchang, Zhang, Lijia, Yibulayimu, Sutuke, Liu, Yanzhen, Liang, Chendi, Wang, Yu, Zhao, Chunpeng
• Format: Journal Article
• Language: English
• Published: Ireland Elsevier B.V 01.04.2025
• Subjects: Algorithms; Collision detection; Computer Simulation; Computer-assisted surgery; Fracture reduction; Fractures, Bone - diagnostic imaging; Fractures, Bone - surgery; Humans; Path planning; Pelvic Bones - diagnostic imaging; Pelvic Bones - injuries; Pelvic Bones - surgery; Pelvic fracture; Robotic Surgical Procedures - methods; Surgery, Computer-Assisted - methods; Fracture reduction; Path planning; Pelvic fracture; Collision detection; Computer-assisted surgery
• ISSN: 0169-2607; 1872-7565; 1872-7565
• DOI: 10.1016/j.cmpb.2025.108591

•Rotational alignment operation is incorporated into path search by including rotation around the specified axis as a separate degree of freedom.•Translational redirection and the optimized Lazy A* algorithm facilitate the generation of initial paths, realizing the balance between search efficiency and search effectiveness.•Various pelvic fracture models validated the applicability of the planner and overcome the state of art in terms of collision detection, path length and smoothness, search time, and surrounding muscle stretching conditions. Computer-assisted orthopedic surgical techniques and robotics has improved the therapeutic outcome of pelvic fracture reduction surgery. The preoperative reduction path is one of the prerequisites for robotic movement and an essential reference for manual operation. As the largest irregular bone with complicated morphology, the rotational motion of pelvic fracture fragments impacts the reduction process directly. To address this, the primary objective of this study is to develop an efficient and effective algorithm for automatically planning the reduction trajectory in robot-assisted pelvic fracture surgeries. After obtaining rotational and reorientated translational degrees of freedom through the initial and target positions of the fracture fragments, the initial path is acquired through improved path planning method combined with specific designed collision detection algorithm. The final reduction path is post-processed to be shortened and smoothed. The effectiveness of the algorithm was evaluated in various pelvic fracture models with surrounding muscles and was compared with prior relevant implementations. Simulation results showed the ability of the planner to save time and overcome the state of art in terms of collision detection, path length and smoothness, search time, and surrounding muscle stretching conditions. The proposed method enables a reasonable reduction path for pelvic fracture, which is demonstrated to be superior in various pelvic fracture scenarios.