CAJ | 학술논문

设计一种在胫骨骨折闭合复位带锁髓内钉内固定手术中应刖的医疗机器人.该系统主要由立体定位框架和计算机系统两大部分组成,利用由C型臂采集到的一幅含有各标记点和髓内钉锁孔两端中心的X射线图像,根据空间映射关系,计算出锁孔在定位框体坐标系中的实际坐标位置,并根据计算结果定位参考坐标面卜的导向孔.电动牵引复位系统可以实现精确复位,通过Internet 网络传输手术数据,可以实现远程遥控操作.在17例胫骨骨折闭合复位带锁髓内钉内固定手术中应用医用机器人复位骨折和计算机辅助定位远端锁孔,其中4例采用远程遥控操作.均按照机器人及导航系统的预定程序,规划完成,所有远端锁钉均一次成功置入.提示医用机器人和计算机辅助定位导航系统可以满足胫骨骨折闭合复位带锁髓内钉内固定在临床应用中骨折复位和远端锁钉置入,减少了术中X射线透视时间,远程遥控操作可靠方便,系统结构简单,易于掌握.
설계일충재경골골절폐합복위대쇄수내정내고정수술중응월적의료궤기인.해계통주요유입체정위광가화계산궤계통량대부분조성,이용유C형비채집도적일폭함유각표기점화수내정쇄공량단중심적X사선도상,근거공간영사관계,계산출쇄공재정위광체좌표계중적실제좌표위치,병근거계산결과정위삼고좌표면복적도향공.전동견인복위계통가이실현정학복위,통과Internet 망락전수수술수거,가이실현원정요공조작.재17례경골골절폐합복위대쇄수내정내고정수술중응용의용궤기인복위골절화계산궤보조정위원단쇄공,기중4례채용원정요공조작.균안조궤기인급도항계통적예정정서,규화완성,소유원단쇄정균일차성공치입.제시의용궤기인화계산궤보조정위도항계통가이만족경골골절폐합복위대쇄수내정내고정재림상응용중골절복위화원단쇄정치입,감소료술중X사선투시시간,원정요공조작가고방편,계통결구간단,역우장악.
A medical robot that is used for closed reduction and the internal fixation of intramedullary locking nailing in treatment of tibial fracture is designed.The system is primarily composed of stereotaxic frame and computer system.Using C-shaped arm-taken X-ray images containing various marked points and keyhole-two-end-center of intramedullary nail,the system calculates the actual position of keyhole in the coordinate system of stereotaxic frame according to space mapping relation and locates the pilot hole on the reference coordinate according to computation.Electric-traction system can realize the precise reduction and remote control operation by network transmission of operation data.In the closed reduction and the internal fixation of intramedullary nail for treatment of tibial fracture in 17 patients,robot reducing fracture and computer-assisted localization of distal keyhole were used.Remote control operation was applied in 4 of them.All operations were performed according to the preset procedure and planning of robot and navigation system.All distal lock nails were successfully implanted at one time.Results demonstrated that both medical robot and computer-assisted localization and navigation system can satisfy fracture reduction and distal Iock nail implantation in the closed reduction and the internal fixation of intramedullary nail for treatment of tibial fracture and shorten intraoperative fluoroscopy time;in addition,remote control operation is reliable and easily mastered due to its simple systemic structure.