六自由度并联机器人模拟中医正骨手法复位简单骨折的可行性研究  

A feasibility study of simulated TCM bone-setting manipulative reduction using 6-degree of freedom parallel robot for treatment of simple fractures

作　　者：郭悦 董鑫宇 苏秀云 张海涛 康会坤 孙昊[2] 陈建文 GUO Yue;DONG Xinyu;SU Xiuyun;ZHANG Haitao;KANG Huikun;SUN Hao;CHEN Jianwen(The Affiliated Rehabilitation Hospital of National Research Center for Rehabilitation Technical Aids,Beijing 100176,China;Hebei University of Technology,Tianjin 300401,China)

机构地区：[1]国家康复辅具研究中心附属康复医院,北京100176 [2]河北工业大学,天津300401

出　　处：《中医正骨》2020年第7期1-5,共5页The Journal of Traditional Chinese Orthopedics and Traumatology

基　　金：北京市科技计划课题(Z181100001718194)。

摘　　要：目的:探讨六自由度并联机器人模拟中医正骨手法复位简单骨折的可行性。方法:利用MATLAB软件绘制六自由度并联机器人的工作空间。将1个人体胫骨模型从中段切断,模拟胫骨横形骨折。通过计算机在测定的机器人工作空间范围内随机生成100例胫骨横形骨折的移位和成角数据。根据机器人的实际指标采用MATLAB软件对100例胫骨横形骨折进行模拟复位,然后按照模拟的骨折移位、成角数据摆放胫骨骨折模型,胫骨骨折模型两端采用直径4.0mm螺纹骨针分别固定在机器人的固定平台和动平台上,采用机器人对胫骨骨折模型进行复位。结果:六自由度并联机器人的动平台在正立位时的工作空间为高度300mm、活动半径250mm的伞形区域。MATLAB软件模拟复位的平均位移误差为0.21mm,平均成角误差为0.02°;机器人复位骨折的平均位移误差为1.2mm、平均成角误差为1.3°,最大位移误差为2.6mm、最大成角误差为2.1°。结论:六自由度并联机器人的工作空间覆盖范围广,复位简单骨折精度高,应用该机器人模拟中医正骨手法复位简单骨折具有较高的可行性。Objective:To explore the feasibility of simulated TCM bone-setting manipulative reduction using 6-degree of freedom(DOF)parallel robot for treatment of simple fractures.Methods:The workspace of 6-DOF parallel robot was drawn by using MATLAB software.A human tibial model was selected and cut in half to simulate tibial transverse fracture.The displacement and angulation data of 100 transverse tibial fracture models were randomly generated by computer within the range of measured workspace of the 6-DOF parallel robot.The fracture reductions were simulated on 100 transverse tibial fracture models by using MATLAB software according to the actual indexes of 6-DOF parallel robot,and the tibial fracture models were placed according to the simulated displacement and angulation data.The opposite ends of tibial fracture models were fixed on the fixed platform and moving platform of the robot respectively with 4.0-mm diameter screw-thread spicules,and reductions were performed on the tibial fracture models by 6-DOF parallel robot.Results:The workspace of the moving platform of 6-DOF parallel robot in orthostatism was an umbrella-shaped area with 300 mm in height and 250 mm in moving radius.The mean deviation in displacement and angulation were 0.21 mm and 0.02 degrees respectively in simulating reduction by MATLAB software,and were 1.2 mm and 1.3 degrees respectively in simulating reduction by 6-DOF parallel robot.The maximum deviation in displacement and angulation were 2.6 mm and 2.1 degrees respectively in simulating reduction by 6-DOF parallel robot.Conclusion:The 6-DOF parallel robot covers wide area in the workspace and has a high accuracy in reduction of simple fractures.It is feasible for 6-DOF parallel robot to simulate TCM bone-setting manipulation in reduction of simple fractures.

关 键 词：正骨手法 骨折 六自由度并联机器人 

分 类 号：R687.3[医药卫生—骨科学]