机器人辅助股骨干骨折复位的性能评价

目的通过制定并实验测定骨折复位机器人的性能指标,来评价机器人在股骨干骨折复位手术中的有效性和有用性。方法针对8例股骨模型骨,模拟股骨干骨折。采用C臂透视二维图像进行复位轨迹规划,采用股骨干骨折复位机器人进行复位操作。通过图像处理,获得复位后两段折骨之间的轴向偏移、径向(横向)偏移、折骨轴线之间的角度偏差等3个参数,来评价骨折复位效果。结果复位路径规划软件操作简单,机器人自主运行顺畅。两段折骨之间的轴向偏移量的均值为1.31mm,径向(横向)偏移量的均值为2.44mm,折骨轴线之间的角度偏差的均值为2.26°。结论机器人的复位精度满足临床要求,并能够有效维持复位状态;机器人复位过程中不需要额外的C臂成像,减少了射线辐射。

Performance evaluation of robot assisted reduction for femoral shaft fracture

Objective To evaluate the effectiveness and feasibility of the robot operation during the femoral shaft fracture reduction through define and measure the performance specifications of robot.Methods Eightplastic femoral models are used for simulating the femoral shaft fracture.The C-arm fluoroscopy images(2D) are used for reduction trajectory planning and the reduction robot is used for femoral shaft reduction operation.Theperformance specifications including the axis translation,the radial offset and the axis angle deviation between fractured bones are measured and calculated after fluoroscopy image processing,which are used for evaluating the reduction effects.Results The reduction planning software iseasy-to-use and the robotcan smoothly autonomous operation.The mean values of axis translation,radial offset and axis angle deviation are 1.3 mm,2.44 mm and 2.26° respectively.Conclusion The accuracy of robot assisted reduction can satisfy the clinical requirements and the robot can maintain the resulting reduction status.There is no additional C-arm fluoroscopy times which can minimal the X-ray radiation dose.