Design and testing of an orthopedic robot for deformity correction

Deformity correction has positive significance for limb function reconstruction. To reduce the workload of the physicians and enhance the intelligence level of deformity correction, a wearable orthopedic robot based on traditional deformity correction devices is proposed, and the methodology for deformity correction is studied. By utilizing the homogeneous coordinate transformation method, the inverse kinematics of the robot is derived. Based on the approach of PointNet++, the small-batch gradient descent optimization method is used to train the model, achieving effective segmentation of the point cloud of the robotic system. The mirrored registration strategy based on the healthy contralateral bone is adopted, with the SAC-IA (Sample Consensus Initial Alignment) method for coarse registration and the ICP (Iterative Closest Point) method for fine registration, to measure the deformity parameters of the bone accurately. A physical prototype of the orthopedic robot is constructed, relevant experimental parameters are obtained through the optical measurement equipment, and the robot is driven to perform the deformity correction task based on the inverse kinematics solution. Experimental results confirm the clinical viability of the proposed orthopedic robot.