Anterior Cruciate Ligament Reconstruction Surgery Navigation and Robotic Positioning System Under X-Rays

摘要

With regards to visual and operating defects during routine arthroscopic anterior cruciate ligament surgery, this paper introduces an anterior cruciate ligament reconstruction surgery navigation and robotic positioning system that uses visual tracking sensors. The system employed intraoperative X-ray images to design feature point-based rapid spatial registration. Image rectification, intraoperative navigation, and robot-assisted positioning were used to complete assisted navigation and positioning of the anterior cruciate ligament tunnel in the femur and tibia. Following that, we carried out a detailed analysis of the errors produced by the navigation and positioning system, including image rectification errors, spatial registration errors, and visual tracking errors, and we carried out error simulations and experiments. We also carried out specimen bone experiments on the femur and tibia. Anteroposterior and lateral X-ray images were acquired each time and the location of the channel always fell on the anatomical end point of the anterior cruciate ligament, with an average time of 30 min. This system avoids surgical defects associated with conventional arthroscopy and solves the clinical problems of complex operation, small surgical field, and inaccurate positioning during anterior cruciate ligament surgery.