Kim Woo Young, Ko Seong Young
MeRIC-Lab, Department of Mechanical Engineering, Chonnam National University, Gwangju, South Korea.
School of Mechanical Engineering, Chonnam National University, Gwangju, South Korea.
Int J Med Robot. 2019 Apr;15(2):e1967. doi: 10.1002/rcs.1967. Epub 2018 Nov 21.
In robot-assisted fracture reduction systems, the fine alignment of the fractured bone and its path planning are still of issues that need to be resolved.
A novel linear guidance constraints (LGC) controller guides a robot along the shortest path to align a distal fracture segment and a proximal one. In addition, the surgeon can modify the path whenever s/he wants.
When the LGC controller is used in the experiment on a femoral bone model with simulated muscles, the fracture reduction time was measured to be 35.6 ± 16.4 seconds, while the position and the angle errors were 0.41 ± 0.61 mm, and 0.22 ± 0.80°, respectively. The proposed controller reduced the reduction time by 78.1%, the translational error by 91.6%, and the angular error by 95.4%, compared with the cases without the LGC controller.
It was proven that the proposed scheme reduced the reduction time and the pose error of the fracture alignment, and that it is effective to alleviate the maneuvering load.
在机器人辅助骨折复位系统中，骨折部位的精确对齐及其路径规划仍是需要解决的问题。
一种新型的线性引导约束（LGC）控制器可引导机器人沿最短路径对齐远端骨折段和近端骨折段。此外，外科医生可随时修改路径。
当在带有模拟肌肉的股骨模型实验中使用LGC控制器时，测得骨折复位时间为35.6±16.4秒，而位置误差和角度误差分别为0.41±0.61毫米和0.22±0.80°。与未使用LGC控制器的情况相比，所提出的控制器将复位时间减少了78.1%，平移误差减少了91.6%，角度误差减少了95.4%。
已证明所提出的方案减少了骨折对齐的复位时间和姿态误差，并且有效减轻了操作负荷。
