计算机应用 ›› 2021, Vol. 41 ›› Issue (5): 1533-1538.DOI: 10.11772/j.issn.1001-9081.2020071133

所属专题: 前沿与综合应用

• 应用前沿、交叉与综合 • 上一篇    

基于信息物理融合的骨折复位机器人系统构建

傅卓鑫1, 孙昊1, 陈建文2, 郭悦2, 陈金3   

  1. 1. 河北工业大学 人工智能与数据科学学院, 天津 300130;
    2. 国家康复辅具研究中心附属康复医院 骨外科, 北京 100176;
    3. 天津市人民医院 康复科, 天津 300121
  • 收稿日期:2020-07-30 修回日期:2020-10-04 出版日期:2021-05-10 发布日期:2020-10-19
  • 通讯作者: 陈金
  • 作者简介:傅卓鑫(1994-),男,山西晋中人,硕士研究生,主要研究方向:医疗机器人、信息物理系统;孙昊(1979-),男,吉林吉林人,副教授,博士,主要研究方向:智能机器人;陈建文(1966-),男,河南焦作人,主任医师,教授,硕士,主要研究方向:矫形骨科、创伤骨科、数字化骨科;郭悦(1986-),男,吉林白城人,医师,硕士,主要研究方向:矫形骨科、创伤骨科、数字化骨科;陈金(1981-),女,河南驻马店人,主治医师,硕士,主要研究方向:骨折康复。
  • 基金资助:
    首都临床特色应用研究项目(Z181100001718194)。

Construction of fracture reduction robot system based on cyber-physical systems

FU Zhuoxin1, SUN Hao1, CHEN Jianwen2, GUO Yue2, CHEN Jin3   

  1. 1. School of Artificial Intelligence, Hebei University of Technology, Tianjin 300130, China;
    2. Orthopedic Surgery Department, Rehabilitation Hospital of National Research Center for Rehabilitation Technical Aids, Beijing 100176, China;
    3. Rehabilitation Department, Tianjin Union Medicine Center, Tianjin 300121, China
  • Received:2020-07-30 Revised:2020-10-04 Online:2021-05-10 Published:2020-10-19
  • Supported by:
    The work is partially supported by the Key Project of Capital Clinical Application Research (Z181100001718194).

摘要: 针对骨折治疗中传统复位方法(手法复位、牵引复位、手术复位)存在的二次损伤、肌能失调、患肢僵硬、破坏血运及术后矫正动态性能差等问题,提出了一种人-机-物融合的信息物理系统(CPHS)用于指导机器人的复位动作。首先,从CPHS的数字孪生、信息感知、系统集成、手术流程、模拟复位等方面论证了并联机器人信息物理系统的构成,将机器人的高定位精度及可重复性与微创方法有效结合,从而指导医生完成仿真规划及术中监控等一系列操作;其次,根据临床骨折复位过程,在机器人操作下对5组不同骨折姿态的模拟骨折病例进行了复位实验;最后,计算出每组实验复位后的移位残余及角度误差,并与传统复位方法的相应数据进行对比。实验结果表明,CPHS骨折复位机器人相较于传统复位方法,在骨折复位过程和患者术后康复上均有着明显的优势。

关键词: 并联骨折复位机器人, 信息物理融合系统, 数字孪生, 传统复位方法, 模拟复位

Abstract: To solve the problems of secondary injury, muscle dysfunction, stiffness of the affected limb, damage to the blood supply, and poor dynamic performance of postoperative correction in traditional reduction methods (such as manual reduction, traction reduction, and surgical reduction) of fracture treatment, a Cyber-Physical and Human System (CPHS) was proposed to guide the reduction movement of the robot. First of all, the composition of the cyber-physical system of the parallel robot was illustrated from the aspects of CPHS system such as digital twin, information perception, system integration, surgical procedure, and simulated reduction. The high positioning accuracy and repeatability of the robot were combined with minimally invasive methods effectively to guide doctors to complete a series of operations such as simulation planning and intraoperative monitoring. Secondly, according to the clinical fracture reduction process, the reduction experiments were performed on simulated fracture cases of 5 groups of different fracture postures under robot operation. Finally, the remaining placements and angle errors in each experimental group were calculated after reduction operation and were compared with the corresponding data of the traditional reduction methods. Experimental results show that the CPHS fracture reduction robot has obvious advantages in fracture reduction and patient postoperative rehabilitation compared with the traditional reduction methods.

Key words: parallel fracture reduction robot, Cyber-Physical and Human System (CPHS), digital twin, traditional reduction method, simulated reduction

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