School of Artificial Intelligence and Data Science, Hebei University of Technology, Tianjin, China.
Engineering Research Center of the Ministry of Education for Intelligent Rehabilitation Devices and Testing Technology, Hebei University of Technology, Tianjin, China.
Int J Med Robot. 2021 Jun;17(3):e2252. doi: 10.1002/rcs.2252. Epub 2021 Mar 10.
The introduction of fracture reduction robot can solve the problem of large reduction forces during fracture reduction surgeries and the need to collect multiple medical images. However, because its safety has not been certified, there are few academic achievements on this type of robot. To calculate the safety factor during its operation, a musculoskeletal model needs to be established to study the constraints of muscles on the robot. The existing academic achievements of musculoskeletal modelling are mainly for application such as rehabilitation treatment and collision in car accidents.
A musculoskeletal model applied to the fracture reduction robot is proposed in this paper. First, by comparing the characteristics of mainstream muscle models and combining the biological characteristics of the anesthetised muscles, the Hill model was selected as the muscle model for this study. Second, based on the motion composition of six spatial degrees of freedom, five basic fractural malposition situations are proposed. Then, a 170-cm tall male musculoskeletal model was built in Opensim. Based on this model, the muscle force curves of the above malposition situations are calculated. Finally, a similar musculoskeletal model was established in Adams, and the accuracy of its muscle force data was tested. The study is approved by the ethics committee of the Rehabilitation Hospital, National Research Center for Rehabilitation Technical Aids, Beijing, China.
The muscle force curve of Opensim and Adams model under situations of five basic malposition are compared. Most of the correlation coefficients are in the range of 0.98-0.99. The overall correlation coefficient is greater than 0.95.
The simulation results prove that this model can be used for the safety assessment of the fracture reduction robots. This model will be served as an environmental constraint to study the control of fracture reduction robot.
骨折复位机器人的引入可以解决骨折复位手术中复位力大、需要多次采集医学图像的问题。但是，由于其安全性尚未得到认证，因此此类机器人的学术成果较少。为了计算其操作过程中的安全系数，需要建立一个肌肉骨骼模型来研究肌肉对机器人的约束。现有的肌肉骨骼建模学术成果主要应用于康复治疗和汽车碰撞等领域。
本文提出了一种应用于骨折复位机器人的肌肉骨骼模型。首先，通过比较主流肌肉模型的特点，并结合麻醉肌肉的生物学特性，选择 Hill 模型作为本研究的肌肉模型。其次，基于六个空间自由度的运动组成，提出了五种基本骨折错位情况。然后，在 Opensim 中构建了一个 170 厘米高的男性肌肉骨骼模型。基于该模型，计算了上述错位情况的肌肉力曲线。最后，在 Adams 中建立了类似的肌肉骨骼模型，并对其肌肉力数据的准确性进行了测试。本研究得到了中国北京康复技术辅助器具国家研究中心康复医院伦理委员会的批准。
比较了 Opensim 和 Adams 模型在五种基本错位情况下的肌肉力曲线。大多数相关系数在 0.98-0.99 之间。整体相关系数大于 0.95。
模拟结果证明，该模型可用于骨折复位机器人的安全性评估。该模型将作为环境约束条件，用于研究骨折复位机器人的控制。
