智能化骨折复位机器人系统辅助股骨干骨折闭合复位的尸体标本研究
Intelligent robot-assisted reduction system for closed reduction of femoral shaft fractures:a cadaveric study
肖鸿鹄 1赵春鹏 1卑明健 1李波 1朱罡 2王豫 3宋迎春 2吴新宝1
作者信息
- 1. 首都医科大学附属北京积水潭医院创伤骨科,北京 100035
- 2. 北京罗森博特科技有限公司,北京 100083
- 3. 北京航空航天大学生物与医学工程学院,北京 100083;北京市生物医学工程高精尖创新中心,北京 100083
- 折叠
摘要
目的 通过尸体标本研究探索自主研发的智能化骨折复位机器人系统辅助股骨干骨折闭合复位的效果.方法 以 4例新鲜冰冻成人尸体股骨为实验对象(男 2 例,女 2 例),参考 8 例股骨干骨折患者的骨折形态建立 8 个股骨干骨折模型(依据AO分型:A1 型 1 例,A2 型 3 例,A3 型 2 例,B2 型 2 例),使用本团队研发的智能化骨折复位机器人系统完成标本骨的自动复位并记录术中配准时间、骨折复位时间、手术总时间.截骨与复位后进行电子计算机断层扫描(computed tomography,CT),测量截骨前与复位后股骨长度和前倾角,利用Geomagic Qualify软件对术前和复位后股骨三维模型匹配,测量复位误差,以评价骨折复位精度和质量.结果 8 例股骨干骨折标本均通过机器人系统完成了有效复位.术中配准平均时间为(33.3±3.7)min,骨折复位平均时间为(34.8±3.3)min,手术总时间平均为(68.0±4.1)min.复位后与复位前的长度差为(1.6±1.6)mm,前倾角差为(4.1±3.5)°.8 例标本的平均复位误差为(4.3±2.2)mm.结论 智能化骨折复位机器人系统可以辅助完成股骨干骨折的闭合复位,复位过程符合临床手术流程,具有较高的复位精度和操作可行性,减少了传统手术的复位时间,避免了骨折端切开对骨折端血运的破坏,同时也减少了手术过程中的放射线暴露,为股骨干闭合复位提供了一种较好的方法.
Abstract
Objective To explore the efficacy of a self-designed intelligent robot-assisted reduction system in the closed reduction of femoral shaft fracture by a cadaveric study.Methods Four fresh frozen cadavers(2 male and 2 female ones)were used in this study,and 8 femoral shaft fractures were created in accordance with clinical cases(AO classification,1 case of type A1,3 cases of type A2,2 cases of type A3 and 2 cases of type B2).A self-designed intelligent robot-assisted reduction system was used to assist the closed reduction in the cadaveric models.Intraoperative registration time,autonomous reduction time and total operation time were recorded.The length and femoral neck anteversion before osteotomy and after reduction were measured,and the three-dimensional model of the femur before operation and after reduction was matched using Geomagic Qualify 2013 software,and the reduction error was measured to evaluate the fracture reduction accuracy and quality.Results Effective reduction was accomplished in 8 bone models with assistance of the self-designed intelligent robot-assisted reduction system.The average intraoperative registration time was(33.3±3.7)min,the autonomous reduction time was(34.8±3.3)min,and the average total operative time was(68.0±4.1)min.The difference in length before osteotomy and after reduction was(1.6±1.6)mm,and the difference in femoral neck anteversion was(4.1±3.5)°.The mean reduction error was(4.3±2.2)mm.Conclusions Our self-designed intelligent robot-assisted reduction system can assist in completing the closed reduction of femoral shaft fracture,with high reduction accuracy and operational feasibility,reducing the reduction time,avoiding the damage of blood supply around the fracture site,and reducing the exposure to radiation during the operation,it provides a better method for the closed reduction of femoral shaft fracture.
关键词
机器人/股骨干骨折/闭合复位/解剖学Key words
robots/femoral shaft fracture/closed reduction/anatomy引用本文复制引用
基金项目
国家重点研发计划项目(2022YFC2504304)
北京市自然科学基金项目(19L2011)
北京市科技计划项目(Z201100005420033)
北京市自然科学基金-海淀原始创新联合基金资助项目(L222136)
出版年
2024
NETL
NSTL
万方数据