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主从式长骨骨折复位机器人的实验研究

Master-slave robot assisted fracture reduction in long bone shaft

作者:               韩巍  王军强  林鸿  王满宜          
单位:           北京积水潭医院创伤骨科(北京100035)    
关键词:           骨折复位;主从式机器人;并联机器人;复位不良;计算机辅助骨科手术      
分类号:
出版年·卷·期(页码):2015·34·1(12-17)
摘要:

目的 对新近开发的主从式长骨骨折复位并联机器人的精确度及可操作性进行评估,并对实验数据进行统计学分析。方法 利用长骨骨折复位并联机器人作为复位的主体部分(从手),并安装在骨科手术床上,将远近端环形架连接在折断的长管状骨上。系统的操作部分(主手)同为一并联结构。术者通过操纵主手,经由主手与从手间的有条件映射控制器对从手进行同步操作,实现对骨折的复位,并用统计学方法对复位精度、操作次数进行单因素方差分析。结果 三位术者在操控机器人复位精度上没有显著性差异(P > 0.05),在直视下比通过显示器观测使用更少的操作次数(P < 0.05)。结论 该机器人系统能够满足复位精度要求,减少成像设备的频繁使用,降低医生工作强度,操作学习曲线短,为长骨骨折的复位提供了一个有效的方法。

Objective To evaluate the accuracy and operability of this newly developed master-slave long bone fracture reduction robotic system, and to investigate the experimental data with statistical analysis. Methods The slave side of the robotic system is the previously developed long bone fracture reduction parallel manipulator robot on the orthopedic traction table. The ring shaped platforms are mounted on the fractured long bone model. The master robot takes the form of parallel manipulator. The operator maneuvers the master robot to control the slave robot via conditional mapping unit to perform the fracture reduction. One way ANOVA is used to analyze the reduction accuracies and the numbers of operations. Results There is no significant difference in reduction accuracies among the three operators (P > 0.05). The number of operations is significantly lower (P < 0.05) in viewing bone model directly than viewing it through camera screens. Conclusions This robotic system can satisfy the accuracy requirement for fracture reduction, reduce the repetitive usage of X-ray imaging and lower the working intensity of operating surgeons. And the system has short learning curve. Such system can provide an efficient method for long bone fracture reduction.

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