骨折复位机器人导航算法在股骨骨折复位中应用的研究进展  

Application of navigation algorithms of fracture reduction robot in femur fracture reduction:a review

作　　者：李奕扬 马信龙[1,2] 马剑雄 王岩[1,2] 董本超 杨培川[1,2] 李岩 孙磊 孙亚迪 周丽芸[1,2] 申佳慧 Li Yiyang;Ma Xinlong;Ma Jianxiong;Wang Yan;Dong Benchao;Yang Peichuan;Li Yan;Sun Lei;Sun Yadi;Zhou Liyun;Shen Jiahui(Institute of Orthopedics,Tianjin Hospital of Tianjin University(Tianjin Municipal Tianjin Hospital),Tianjin 300211,China;Tianjin Key Laboratory of Orthopedic Biomechanics and Medical Engineering,Tianjin 300050,China)

机构地区：[1]天津大学天津医院(天津市天津医院)骨科研究所,天津300211 [2]天津市骨科生物力学与医学工程重点实验室,天津300050

出　　处：《中华创伤杂志》2023年第12期1139-1146,共8页Chinese Journal of Trauma

基　　金：国家重点研发计划项目(2022YFC3601904);天津市自然科学基金重点项目(22JCZDJC00340);天津市卫生健康科技项目(TJWJ2022QN053)。

摘　　要：股骨骨折是临床中常见的骨折类型,复位不良可能导致畸形愈合和功能障碍。传统手法复位和髓内钉固定是目前主流的治疗手段,但存在X线辐射暴露、骨折复位不良等问题。而骨折复位机器人对于提高股骨骨折治疗手术的安全性、避免重复操作和对位不良、缩短患者术后康复时间具有积极意义,其中导航算法是实现股骨复位的关键。了解各类导航算法在股骨复位应用中表现出的优缺点,对于充分发挥骨折复位机器人在股骨复位中的应用价值具有重要意义。为此,笔者从影像配准算法、复位目标建立算法、机械误差补偿算法和路径规划算法四个方面,就现有机器人导航算法在股骨骨折复位中应用的相关进展进行综述,为骨折复位机器人导航算法的应用和研究提供参考。Femoral fracture is a common type of fracture in clinical practice,and poor fracture reduction may lead to malunion and dysfunction.At present,traditional reduction with manipulation and intramedullary nailing are the mainstream treatments,but there exist problems such as X-ray exposure or poor reduction.Fracture reduction robots are of positive significance in improving the safety of surgical treatment of femur fracture,avoiding repetitive operations and poor alignment,and shortening the patients′postoperative recovery time.Navigation algorithm is the key to achieve the function of femoral repositioning.Understanding the advantages and disadvantages that various types of navigation algorithms demonstrated in femoral reduction applications is important for giving full play to the value of fracture reduction robots in femoral reduction.Therefore,the authors reviewed the research progress in existing robot navigation algorithms applied in femoral fracture repositioning from the following four aspects,including image alignment algorithm,algorithm for establishing the target pose of femoral repositioning,algorithm for compensating the mechanical error,and algorithm for path planning,hoping to provide a reference for the application and research of navigation algorithms of fracture reduction robots.

关 键 词：股骨骨折 骨折切开复位 机器人 外科导航系统 

分 类 号：R687.3[医药卫生—骨科学]