Development And Research Of An Orthopaedic Robot System For Limb Fractures

Objective:In adopt to a series of experimental studies on the orthopaedic robot system for limb fractures which we developed independently,we aim to take optimization of its components,software and hardware modules.Conducting experimental researches through in vitro and in vivo animal fracture model reduction,we aim to improve its reduction performance continuously,make its reduction standard more perfect,make it closer to clinical application,and provide a new technical idea for the treatment of fracture.Methods:Based on the requirement of clinical fracture reduction,to design and develop a prototype of the first generation orthopaedic robot system for limb fractures by using digital technology and the principle of engineering "mechanical arm" through the combination of Medical Engineering.To test its reduction effect and to develop the second generation system of orthopaedic robot system for limb fractures through the collection of clinical data.To optimize and improve the components of the robot system.Through the reset experiment model of isolated bovine femoral fracture,to test and verify the feasibility of the robot system.The reset function is adjusted to lay the foundation for the in vivo experiment.Through the reduction and fixation experiment of sheep tibial fracture model in vivo,to study the working characteristics of the reduction robot under physiological condition,to test the performance of the reduction robot,and to find more practical problems.It is hoped that through further optimization and improvement,the reduction effect will be more optimized,so as to pave the way for clinical transformation.Results:Firstly,the first generation of robot was developed,and the cooperation relationship between the manipulator and the reset operation control system was verified by conducting field operation.Through clinical data feedback,the advantages and disadvantages of the reduction robot prototype were summarized,its components were improved and optimized,and the second generation of robot was developed.The reduction experiment of bovine femoral fracture model in vitro was carried out by using the second orthopaedic robot system for limb fractures,and the data were obtained.The reduction accuracy of the system was measured and analyzed as follows,axial residual: 1.56±0.58 mm,rotation angle: 1.93±0.46°,lateral residual: 1.87±0.23 mm and valgus angle: 1.73±0.36°.The results showed that the reduction effect was obvious,and the practicability of the reduction principle and the feasibility of the robot system were verified.On the basis of the previous experimental study,the reduction and fixation experiments of femoral fracture model of living sheep were carried out by using the the second generation of robot.The experimental results showed that the reduction experiment of femoral fracture model of living sheep showed that :reduction data: axial residual: 3.07±0.40mm;rotation angle: 2.83±0.35°;lateral residual: 3.37±0.59 mm;valgus angle: 2.20±0.10 °,operation time was 45.67±7.09 min,blooding loss was 14.00±1.00ml;the fluoroscopy time was 16.67±1.15.According to the results,it can be concluded that the second generation machine is effective for the reduction of fracture model in vivo and can meet the requirements of reduction.However,there are still some shortcomings in the robot for reduction of long bone fracture of extremities.It is believed that through further improvement,upgrading and debugging,the effect of robot reduction will be more optimized,and it will be more helpful in shortening the operation time and improving the quality of reduction.Conclusions:Based on the principle of engineering "mechanical arm",we have designed and developed an orthopaedic robot system for limb fractures independently,which has the initial reduction ability and can meet the requirements of clinical reduction.It provides a minimally invasive,precise and intelligent new technology for assistant reduction of long bone fracture of extremities.The next step will continue to improve in order to be more active to clinical practice.