Schulz A P, Tarabolsi M, Faber A, Meiners J, Kammal M, Mantwill F
Department of Trauma, Orthopaedics and Reconstructive Surgery, BG Trauma Hospital, Hamburg, Germany.
Int J Med Robot. 2007 Jun;3(2):135-9. doi: 10.1002/rcs.134.
A robotic system for the implantation of a total hip arthroplasty (THA) is currently under development. One of the goals of this system is non-invasive patient fixation, aiding the robotic system by an infrared tracking system. To determine the extent of fixation that can be achieved by non-invasive methods, an in vitro study was performed.
In cadaver testing, different non-invasive fixation methods (Arthrex leg holder with tourniquet mechanism; arthroscopic leg holder with disposable foam inserts; gynaecological leg holder; Goepel knee crutch) were evaluated under load in different directions.
Deviation was measured in the range 0.33-18.1 mm with up to 20 N load. The testing showed the pneumatic leg holder system to provide the highest stability, followed by an arthroscopic leg holder system with foam inserts.
Use of a leg holder with foam inserts produced a stability that should enable tracking of the remaining deviation by the navigation system. We will therefore use this method in our future development of the robotic milling tool.
一种用于全髋关节置换术（THA）植入的机器人系统目前正在研发中。该系统的目标之一是实现无创患者固定，通过红外跟踪系统辅助机器人系统。为了确定无创方法能够实现的固定程度，进行了一项体外研究。
在尸体测试中，对不同的无创固定方法（带止血带机制的Arthrex腿部固定器；带一次性泡沫插入物的关节镜腿部固定器；妇科腿部固定器；Goepel膝关节拐杖）在不同方向的负荷下进行了评估。
在高达20 N的负荷下，测量到的偏差范围为0.33 - 18.1 mm。测试表明，气动腿部固定器系统提供了最高的稳定性，其次是带泡沫插入物的关节镜腿部固定器系统。
使用带泡沫插入物的腿部固定器产生的稳定性应能使导航系统跟踪剩余偏差。因此，我们将在未来的机器人铣削工具开发中使用这种方法。
