Intelligent robot-assisted minimally invasive reduction system for reduction of unstable pelvic fractures
Source images ,tables and video for the article entitled "Intelligent robot-assisted minimally invasive reduction system for reduction of unstable pelvic fracturest" by Chunpeng Zhao，Qiyong Cao, Xu Sun, Xinbao Wu, Gang Zhu,Yu Wang. Figure 1: A. Core structure of robot system which consists of pelvic fracture reduction software, optical tracking device and reduction robot (UR16e); B.Auxiliary structure of the Robot which consists of two holding equipment through a designed U-shaped device and an elastic traction device Figure 2. A. Preoperative CT reconstruction model; B. Preoperative path planning of reduction planning; C. Final target position of path planning Figure 3 A.The spatial location of the robot system in the operating room.B. The U-shaped base of the two holding arms was connected to the healthy side of the operating bed Figure 4. After image registration, the position of the pelvic can be tracked in real-time and displayed on the screen. Figure 5. two Schantz pins are placed in the widest part of the iliac wing (the gluteal tuberosity position) and the anterior inferior iliac spine above the acetabular dome (the position of the LC2 screw). In the affected half pelvis, a third Schantz pin was inserted horizontally above the top of the acetabulum Figure 6 Typical case presentation. A. Preoperative X-ray of unstable pelvic fracture using three standard pelvic radiographic views: anteroposterior, inlet, and outlet views.B. Preoperative path planning of reduction planning.C. The sacroiliac screw guide pin is inserted from the posterior ring of the pelvis on the unaffected side in advance. When the reduction is completed, guide pin can directly penetrate the sacroiliac joint of the affected side, which can assist the temporary fixation of the posterior ring, and can also penetrate the guide pin through the skin of the affected side pelvis to guide the sacroiliac screw fixation of posterior ring. D. All Schantz pins were stably fixed with the end of the mechanical passive arm. E. The bone traction was connected with elastic traction devices. F. After completing image registration, pelvic holding and elastic traction, the position of the pelvic fracture was directly displayed in the monitor. Figure 7. Typical case presentation. A. The reduction processes are completed under the supervision of 3D real-time navigation. B. The skin incisions. C. Postoperative plain radiograph using three standard pelvic radiographic views: anteroposterior, inlet, and outlet views. D. Postoperative CT 3D reconstruction images. E. Postoperative CT coronal and axial scans.