{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,3]],"date-time":"2026-08-03T17:57:03Z","timestamp":1785779823098,"version":"3.56.0"},"reference-count":29,"publisher":"MDPI AG","issue":"8","license":[{"start":{"date-parts":[[2026,8,3]],"date-time":"2026-08-03T00:00:00Z","timestamp":1785715200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Open Project of Anhui Provincial Key Laboratory of Intelligent Diagnosis and Precision Treatment of Pediatric Skeletal Diseases","award":["AHETGH202511"],"award-info":[{"award-number":["AHETGH202511"]}]},{"name":"Excellent Young Talents Fund of Higher Education Institutions of Anhui Province","award":["2024AH030006"],"award-info":[{"award-number":["2024AH030006"]}]},{"name":"Key Open Fund of Anhui Provincial Key Laboratory of Advanced Detection and Intelligent Perception","award":["JCKJ2025A08"],"award-info":[{"award-number":["JCKJ2025A08"]}]},{"name":"Open Fund of Anhui Provincial Key Laboratory of Machine Vision Inspection and Perception","award":["KLMVI-2025-HIT-09"],"award-info":[{"award-number":["KLMVI-2025-HIT-09"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Bioengineering"],"abstract":"<jats:p>Surgical robot navigation in a restricted pelvic workspace requires accurate target localization, directional consistency and robot-feasible execution. This study proposes a physically constrained dual-branch front-end network (PCD-Net) for DDH-oriented navigation using public CT-derived pelvis geometries. PCD-Net maps a 21-dimensional input comprising the target geometry, current joint state, workspace bounds and constraint parameters to a base-frame target position, principal insertion direction and seven-joint correction vector for MoveIt2 and OMPL planning. Training combines supervised pretraining with direction consistency, joint limit, correction magnitude and workspace gap penalties. Evaluation comprised 15 complete simulation trials per method and target sequence-level fivefold cross-validation of 999 samples from five complete sequences. PCD-Net achieved a position error of 0.736\u00b10.202 mm, a direction error of 0.428\u00b10.130\u00b0, a planning time of 0.0162\u00b10.0040 s and successful execution in all 15 trials. In cross-validation, the complete constraint setting produced the lowest joint correction MAE (0.755\u00b10.034 rad) and temporal correction variation (3.270\u00b10.589 rad) while maintaining sub-millimeter position and sub-degree direction errors. Removing the joint limit penalty increased the violation rate by 42.35%. These results support PCD-Net as a lightweight, planner-compatible front end that balances geometric accuracy and joint-level feasibility. All evidence is simulation-based; phantom experiments, physical robot validation and evaluation using clinically characterized DDH cases remain necessary before surgical translation.<\/jats:p>","DOI":"10.3390\/bioengineering13080895","type":"journal-article","created":{"date-parts":[[2026,8,3]],"date-time":"2026-08-03T17:26:52Z","timestamp":1785778012000},"page":"895","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Physically Constrained Dual-Branch Front-End Optimization for DDH-Oriented Surgical Robot Navigation"],"prefix":"10.3390","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0009-0004-6761-7010","authenticated-orcid":false,"given":"Jiabao","family":"Li","sequence":"first","affiliation":[{"name":"School of Artificial Intelligence, Anhui Polytechnic University, Wuhu 241000, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ming","family":"Zhu","sequence":"additional","affiliation":[{"name":"School of Artificial Intelligence, Anhui Polytechnic University, Wuhu 241000, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0686-0103","authenticated-orcid":false,"given":"Chengjun","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Artificial Intelligence, Anhui Polytechnic University, Wuhu 241000, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kang","family":"Xie","sequence":"additional","affiliation":[{"name":"Anhui Provincial Key Laboratory of Intelligent Diagnosis and Precision Treatment for Pediatric Bone Diseases, Hefei 230000, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shaoyue","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Computer Science and Digital Technologies, Aston University, Birmingham B4 7ET, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1605-0873","authenticated-orcid":false,"given":"Ziyang","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Computer Science and Digital Technologies, Aston University, Birmingham B4 7ET, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4593-5099","authenticated-orcid":false,"given":"Dongdong","family":"Ye","sequence":"additional","affiliation":[{"name":"School of Artificial Intelligence, Anhui Polytechnic University, Wuhu 241000, China"},{"name":"Aviation Industry Corporation Huadong Photoelectric Co., Ltd., Wuhu 241003, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2026,8,3]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"770","DOI":"10.1016\/j.artd.2020.07.022","article-title":"The Use of Robotic-Assisted Total Hip Arthroplasty in Developmental Dysplasia of the Hip","volume":"6","author":"Vigdorchik","year":"2020","journal-title":"Arthroplast. 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