[旋转牵引手法教学机器人稳定性研究]

[Research on the stability of teaching robots of rotation-traction manipulation].

作者信息

Feng Min-Shan, Zhu Li-Guo, Wang Shang-Quan, Yu Jie, Chen Ming, Li Ling-Hui, Wei Xu

机构信息

Beijing Key Laboratory of Traditional Chinese Orthopedics and Traumatology, Wangjing Hospital, China Academy of Chinese Medical Sciences, Beijing 100102, China.

Beijing Key Laboratory of Traditional Chinese Orthopedics and Traumatology, Wangjing Hospital, China Academy of Chinese Medical Sciences, Beijing 100102, China;

出版信息

Zhongguo Gu Shang. 2017 Mar 25;30(3):241-246. doi: 10.3969/j.issn.1003-0034.2017.03.011.

DOI:10.3969/j.issn.1003-0034.2017.03.011

PMID:29349963

Abstract

OBJECTIVE

To evaluate the stability of teaching robot of rotation-traction manipulation.

METHODS

Operators were required to get the hang of rotation-traction manipulation and had clinical experience for over 5 years. The examination and data processing of the ten operators in our research were collected by the teaching robot of rotation-traction manipulation. Traction, pulling force, maximum force, pulling time, rotational amplitude and pitch range were recorded and compared for five times(G1, G2, G3, G4 and G5). The qualification rates were analyzed to evaluate the stability of teaching robot of rotation-traction manipulation.

RESULTS

Nonconforming items were found in G1 and G2, for instance, pulling force(=0.074), maximum force(=0.264) and rotational amplitude (=0.531). There was no statistically difference. None nonconforming item was found in G3, G4 and G5. All data were processed by SPSS and One-way ANOVA was used to analysis. Pulling force was found statistically different in G1, compared with G4 and G5(=0.015, =0.006). Maximum force was found statistically different in G1, compared with G4 and G5 (=0.021, =0.012). None differences were found in other comparisons (>0.05).

CONCLUSIONS

The teaching robot of rotation-traction manipulation used in our research could provide objective and quantitative indices and was considered to be an effective tool of assessing the rotation-traction manipulation.

摘要

目的

评估旋转牵引手法教学机器人的稳定性。

方法

要求操作人员掌握旋转牵引手法且具有5年以上临床经验。本研究中10名操作人员的检查及数据处理由旋转牵引手法教学机器人采集。记录并比较牵引、拉力、最大力、牵引时间、旋转幅度和俯仰范围5次（G1、G2、G3、G4和G5）。分析合格率以评估旋转牵引手法教学机器人的稳定性。

结果

在G1和G2中发现不合格项目，例如，拉力（=0.074）、最大力（=0.264）和旋转幅度（=0.531）。无统计学差异。在G3、G4和G5中未发现不合格项目。所有数据采用SPSS处理，采用单因素方差分析。发现G1中的拉力与G4和G5相比有统计学差异（=0.015，=0.006）。发现G1中的最大力与G4和G5相比有统计学差异（=0.021，=0.012）。其他比较未发现差异（>0.05）。