PHYSICAL SYMMETRY AND VIRTUAL PLANE-BASED REDUCTION REFERENCE: A PRELIMINARY STUDY FOR ROBOT-ASSISTED PELVIC FRACTURE REDUCTION

Traditional pelvis fracture reduction suffers from some disadvantages. Robot-assisted pelvis fracture reduction offers some promise in solving these problems. However, the reduction reference to guide robot motion is a key issue that must be resolved. In this paper, we propose a physical symmetry and virtual plane-based reduction reference and adopt the method of registration to calculate the virtual plane for the reference, which were verified via experiments. The results of the position symmetry experiments of the original pelvis and virtual plane-based position symmetry experiments were similar; both showed that the symmetry errors of the pelvis were less than 4 mm and 2.5 degrees. The results indicated that the proposed method could be used as a reference for robot-assisted pelvis fracture reduction.