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主從式長骨骨折復位機器人的實驗研究

Master-slave robot assisted fracture reduction in long bone shaft

作者:               韓巍  王軍強  林鴻  王滿宜          
單位:           北京積水潭醫(yī)院創(chuàng)傷骨科(北京100035)    
關鍵詞:           骨折復位;主從式機器人;并聯機器人;復位不良;計算機輔助骨科手術      
分類號:
出版年·卷·期(頁碼):2015·34·1(12-17)
摘要:

目的 對新近開發(fā)的主從式長骨骨折復位并聯機器人的精確度及可操作性進行評估,并對實驗數據進行統(tǒng)計學分析。方法 利用長骨骨折復位并聯機器人作為復位的主體部分(從手),并安裝在骨科手術床上,將遠近端環(huán)形架連接在折斷的長管狀骨上。系統(tǒng)的操作部分(主手)同為一并聯結構。術者通過操縱主手,經由主手與從手間的有條件映射控制器對從手進行同步操作,實現對骨折的復位,并用統(tǒng)計學方法對復位精度、操作次數進行單因素方差分析。結果 三位術者在操控機器人復位精度上沒有顯著性差異(P > 0.05),在直視下比通過顯示器觀測使用更少的操作次數(P < 0.05)。結論 該機器人系統(tǒng)能夠滿足復位精度要求,減少成像設備的頻繁使用,降低醫(yī)生工作強度,操作學習曲線短,為長骨骨折的復位提供了一個有效的方法。

Objective To evaluate the accuracy and operability of this newly developed master-slave long bone fracture reduction robotic system, and to investigate the experimental data with statistical analysis. Methods The slave side of the robotic system is the previously developed long bone fracture reduction parallel manipulator robot on the orthopedic traction table. The ring shaped platforms are mounted on the fractured long bone model. The master robot takes the form of parallel manipulator. The operator maneuvers the master robot to control the slave robot via conditional mapping unit to perform the fracture reduction. One way ANOVA is used to analyze the reduction accuracies and the numbers of operations. Results There is no significant difference in reduction accuracies among the three operators (P > 0.05). The number of operations is significantly lower (P < 0.05) in viewing bone model directly than viewing it through camera screens. Conclusions This robotic system can satisfy the accuracy requirement for fracture reduction, reduce the repetitive usage of X-ray imaging and lower the working intensity of operating surgeons. And the system has short learning curve. Such system can provide an efficient method for long bone fracture reduction.

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