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