轨迹驱动式踝关节被动康复方案设计  

Designing Trajectory-driven Program of Passive Rehabilitation for Ankle Fracture

作　　者：杨捷 孙振辉[2] 张弢[2] 宋轶民[1] 孙涛[1] Yang Jie;Sun Zhenhui;Zhang Tao;Song Yimin;Sun Tao(School of Mechanical Engineering,Tianjin University,Tianjin 300354,China;Tianjin Hospital,Tianjin 300211,China)

机构地区：[1]天津大学机械工程学院,天津300354 [2]天津市天津医院,天津300211

出　　处：《机械科学与技术》2020年第12期1828-1835,共8页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家重点研发计划项目(2018YFB1307800);国家自然科学基金项目(51775367);京津冀三地协同创新研发项目(18YFSDZC00010)资助。

摘　　要：并联外固定技术是一种面向踝关节骨折的新型治疗方法,亟需研究该治疗模式下的骨折术后康复理论。结合临床上连续被动运动康复理念,提出了通过正常运动轨迹驱动并联外固定器械运动的新型踝关节骨折被动康复方案。该方案设计了踝关节运动规律测定实验,通过Optotrak Certus三维测量系统捕捉正常运动状态下的标记物位置,在MATLAB中计算踝关节运动轨迹与运动范围。选取符合正常踝关节运动规律的康复轨迹,使外固定器械动平台按该轨迹运动,通过并联机构运动学逆解计算各支链杆长,形成被动康复方案。该方案可为采用并联外固定器械的踝关节骨折提供一种有效的术后康复方法。Parallel external fixation is a new treatment method for ankle fracture,which is an essential problem to study the fracture rehabilitation theory with this treatment method.Based on the clinical rehabilitation concept of continuous passive motion,we design a new passive rehabilitation program for ankle fracture,which drives a parallel external fixator's movement with the normal motion trajectory.With this program,the experiment for measuring the law of ankle movement is designed.The positions of markers under normal motion state were captured by the three-dimensional measurement system called Optotrak Certus.The motion trajectory of an ankle and its range were calculated with the MATLAB software.The rehabilitation trajectory which conforms with the normal ankle motion law is selected to drive the external fixator's moving platform move according to the trajectory.The length of each branch chain was calculated with the inverse kinematics of parallel mechanism;thus the complete passive rehabilitation program was formed,effectively rehabilitating ankle fracture with a parallel external fixator.

关 键 词：踝关节骨折 被动康复 并联外固定器械 运动轨迹 运动学逆解 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]