Skip to main content
SpringerLink
Log in

Trajectory planning for a 6-DoF manipulator used for orthopaedic surgery

  • Regular Paper
  • Published:
International Journal of Intelligent Robotics and Applications Aims and scope Submit manuscript

Abstract

Robots with multiple degrees-of-freedom (DoFs) are being used in the surgical field more frequently over the last decade, not as an alternative but a main method for minimally invasive surgeries. Surgical robots allow surgeons to perform surgical procedures more steadily and more accurately. In this paper, a newly designed 6-DoF manipulator for minimally invasive scaphoid surgery is introduced with its kinematic model. Given the conditions in the operating theatre, especially for the orthopaedic surgery, a sectioned trajectory planning method is proposed in order to prevent the manipulator from colliding with wounded wrist joints. Simulation results show that this approach is well performed to generate a smooth trajectory and ready for clinical trials.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10

Similar content being viewed by others

Abbreviations

T bone.CT :

Transformation matrix of carpal bones frame in the CT scanner frame

T fix.CT :

Transformation matrix of the fixation plate frame in the CT scanner frame

T bone.fix :

Transformation matrix of carpal bones frame in the fixation plate frame

T base.fix :

Transformation matrix of the manipulator base frame in the fixation plate frame

T tool.base :

Transformation matrix of the tool frame in the manipulator base frame

T bone.base :

Transformation matrix of carpal bones frame in the manipulator base frame

P1, P2 :

Entry point (or reference point) and endpoint for guide wire insertion

dirZ :

z-axis orientation of the guide wire

Psz, Pfz :

End points of safety zone and free zone

d in :

Depth of guide wire insertion

d safe :

Pre-planned safe distance

T j :

Time-interval when the jerk is constant during the acceleration or the deceleration phase

T a :

Time-interval of the acceleration phase

T v :

Time-interval of the constant velocity phase

T d :

Time-interval of the deceleration phase

T :

Total duration of the trajectory

q, v, a, j :

Angle, velocity, acceleration and jerk of each joint

p0…pn :

Via-point positions

R1…Rn :

Orientations at each via-point

References

  • Boufous, S., Finch, C., Lord, S., Close, J., Gothelf, T., Walsh, W.: The epidemiology of hospitalised wrist fractures in older people, New South Wales, Australia. Bone 39(5), 1144–1148 (2006)

    Article  Google Scholar 

  • Chang, Q., Huang, X., Guan, C.: Treatment of carpal scaphoid fracture by internal fixation with Herbert screw. Chin. J. Hand Surg. 18, 217–218 (2002)

    Google Scholar 

  • Constantinescu, D., Croft, E.A.: Smooth and time-optimal trajectory planning for industrial manipulators along specified paths. J. Field Robot. 17(5), 233–249 (2015)

    MATH  Google Scholar 

  • Corke, P.: A robotics toolbox for MATLAB. IEEE Robot. Autom. Mag. 3(1), 24–32 (1996)

    Article  Google Scholar 

  • De, M.E., Ferrigno, G.: Robotic and artificial intelligence for keyhole neurosurgery: the ROBOCAST project, a multi-modal autonomous path planner. Proc. Inst. Mech. Eng. H 224(5), 715–727 (2010)

    Article  Google Scholar 

  • De Lange, A., Kauer, J.M.G., Huiskes, R.: Kinematic behavior of the human wrist joint: a roentgen-stereophotogrammetric analysis. J. Orthop. Res. 3(1), 56–64 (1985)

    Article  Google Scholar 

  • Gasparetto, A., Zanotto, V.: A new method for smooth trajectory planning of robot manipulators. Mech. Mach. Theory 42(4), 455–471 (2007)

    Article  MathSciNet  Google Scholar 

  • Gasparetto, A., Zanotto, V.: A technique for time-jerk optimal planning of robot trajectories. Robot. Comput. Integr. Manuf. 24(3), 415–426 (2008)

    Article  Google Scholar 

  • Gasparetto, A., Zanotto, V.: Optimal trajectory planning for industrial robots. Adv. Eng. Softw. 41(4), 548–556 (2010)

    Article  Google Scholar 

  • Gasparetto, A., Boscariol, P., Lanzutti, A., Vidoni, R.: Trajectory planning in robotics. Math. Comput. Sci. 6(3), 269–279 (2012)

    Article  MathSciNet  Google Scholar 

  • Herbert, T.J., Fisher, W.E.: Management of the fractured scaphoid using a new bone screw. J. Bone Joint Surg. Br. 66(1), 114–123 (1984)

    Article  Google Scholar 

  • Kaur, G., Tan, J., Alam, M., Chaudhary, V., Chen, D., Dong, M., Eltahawy, H., Fotouhi, F., Gammage, C., Gong, J.: CASMIL: a comprehensive software/toolkit for image-guided neurosurgeries. Int. J. Med. Robot. Comput. Assis. Surg. MRCAS 2(2), 123–138 (2006)

    Article  Google Scholar 

  • Lewis, O.J., Hamshere, R.J., Bucknill, T.M.: The anatomy of the wrist joint. J. Anat. 106(3), 539–552 (1970)

    Google Scholar 

  • De Momi, E., Kranendonk, L., Valenti, M., Enayati, N., Ferrigno, G.: A neural network-based approach for trajectory planning in robot–human handover tasks. Front. Robot. AI 3, 34 (2016). https://doi.org/10.3389/frobt.2016.00034

    Article  Google Scholar 

  • Putter, C.E.D., Selles, R.W., Polinder, S., Hartholt, K.A., Looman, C.W., Panneman, M.J.M., Verhaar, J.A.N., Hovius, S.E.R., Beeck, E.F.V.: Epidemiology and health-care utilisation of wrist fractures in older adults in The Netherlands, 1997–2009. Injury 44(4), 421–426 (2013)

    Article  Google Scholar 

  • Saravanan, R., Ramabalan, S., Balamurugan, C.: Evolutionary multi-criteria trajectory modeling of industrial robots in the presence of obstacles. Eng. Appl. Artif. Intell. 22(2), 329–342 (2009)

    Article  Google Scholar 

  • Somerson, J.S., Fletcher, D.J., Srinivasan, R.C., Green, D.P.: Compression screw fixation without bone grafting for scaphoid fibrous nonunion. Hand 10(3), 450–453 (2015)

    Article  Google Scholar 

  • Vaillant, M., Davatzikos, C., Taylor, R.H., Bryan, R.N.: A path-planning algorithm for image-guided neurosurgery. Lect. Notes Comput. Sci. 1205(1205), 467–476 (1997)

    Article  Google Scholar 

Download references

Funding

This study has been funded by National Natural Science Foundation of China (51675036) and Beijing Municipal Science and Technology Commission (Z161100001516012).

Author information

Authors and Affiliations

  1. Hsun (Beijing) Technology, Beijing, China

    Qiao Wang

  2. Beihang University, Beijing, China

    Zhanbin Wang & Mei Shuai

Authors
  1. Qiao Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Zhanbin Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Mei Shuai
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Qiao Wang.

Ethics declarations

Conflict of interest

There is no conflict of interest.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Wang, Q., Wang, Z. & Shuai, M. Trajectory planning for a 6-DoF manipulator used for orthopaedic surgery. Int J Intell Robot Appl 4, 82–94 (2020). https://doi.org/10.1007/s41315-020-00117-4

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s41315-020-00117-4

Keywords

Search

Navigation