并联型骨外固定器在上肢畸形矫正中的应用  

The application of parallel external fixation in the upper limbs deformity correction

作　　者：魏梦婷 张习帅 孙昊[1,2] 

机构地区：[1]河北工业大学控制科学与工程学院,天津300130 [2]河北工业大学智能康复装置与检测技术教育部工程研究中心,天津300130

出　　处：《河北工业大学学报》2017年第5期94-100,共7页Journal of Hebei University of Technology

基　　金：国家科技支撑计划(2012BAI33B06);2017河北省研究生创新资助项目(220056)

摘　　要：常规的串联型骨外固定器无法治疗多维畸形的同期矫正.因此,将6-DOF并联型机器人与骨外固定技术相结合,应用于治疗复杂上肢畸形,可同时矫正四维畸形.而此技术存在人为主观上无法计算各驱动杆伸缩量及观测畸形骨段状态信息的问题.由此自主开发配套计算机软件.医生将由术后X线片测量的相关参数输入软件,通过计算机进行数学运算生成6根驱动杆每日调节量的电子处方,从而指导医生及患者通过渐进的调整驱动杆伸长或短缩来完成畸形矫正.同时,对整个矫正过程进行位姿三维仿真,使医生能够直观的分析畸形状态.临床实验结果表明,使用并联型骨外固定器进行上肢畸形矫正获得了理想的治疗效果.应用此技术提高了医护人员的工作效率和畸形矫正的调整精度,使得畸形矫正过程简单化、精准化、数字化.Conventional serialexternal fixation can't correct multidimensional deformitysimultaneously.Therefore, the 6-DOF parallel robot combined with external fixation technology to correct the complex upper limb deformity. It can correct four-dimensional deformities simultaneously. However, there are problems that the elongations of the six struts can't be calculated subjectively and the state of the deformed fragmen can't be observated. So, a computer software with independent intellectual property rights has been developed. Doctor use postoperative radiographs to measure the relevant parameters, then the measurement parameters are inputted into softwareto perform mathematical operations with computer-assisted. It will get the daily adjustment elongations of six struts with the time schedule, that is, electronic prescription.Gradual correction will be achieved through the lengthening or shortening of the struts. A three-dimensional pose simulation of the correction process is made, so that doctors can intuitively analyze the deformed state. Clinical results show that the use of parallel external fixator in correction of upper limb deformity can achieve satisfied outcomes. It improves the doctor's working efficiency and the adjustment accuracy of deformity correction. Besides, the correction process can be simplified, precise and digitized.

关 键 词：援并联机构 6-DOF 虚拟现实技术 骨外固定器 畸形矫正 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置] TP391.4[自动化与计算机技术—控制科学与工程]