基于信息物理融合的骨折复位机器人系统构建

针对骨折治疗中传统复位方法（手法复位、牵引复位、手术复位）存在的二次损伤、肌能失调、患肢僵硬、破坏血运及术后矫正动态性能差等问题，提出了一种人-机-物融合的信息物理系统（CPHS）用于指导机器人的复位动作。首先，从CPHS的数字孪生、信息感知、系统集成、手术流程、模拟复位等方面论证了并联机器人信息物理系统的构成，将机器人的高定位精度及可重复性与微创方法有效结合，从而指导医生完成仿真规划及术中监控等一系列操作；其次，根据临床骨折复位过程，在机器人操作下对5组不同骨折姿态的模拟骨折病例进行了复位实验；最后，计算出每组实验复位后的移位残余及角度误差，并与传统复位方法的相应数据进行对比。实验结果表明，CPHS骨折复位机器人相较于传统复位方法，在骨折复位过程和患者术后康复上均有着明显的优势。

Construction of fracture reduction robot system based on cyber-physical systems

To solve the problems of secondary injury, muscle dysfunction, stiffness of the affected limb, damage to the blood supply, and poor dynamic performance of postoperative correction in traditional reduction methods (such as manual reduction, traction reduction, and surgical reduction) of fracture treatment, a Cyber-Physical and Human System (CPHS) was proposed to guide the reduction movement of the robot. First of all, the composition of the cyber-physical system of the parallel robot was illustrated from the aspects of CPHS system such as digital twin, information perception, system integration, surgical procedure, and simulated reduction. The high positioning accuracy and repeatability of the robot were combined with minimally invasive methods effectively to guide doctors to complete a series of operations such as simulation planning and intraoperative monitoring. Secondly, according to the clinical fracture reduction process, the reduction experiments were performed on simulated fracture cases of 5 groups of different fracture postures under robot operation. Finally, the remaining placements and angle errors in each experimental group were calculated after reduction operation and were compared with the corresponding data of the traditional reduction methods. Experimental results show that the CPHS fracture reduction robot has obvious advantages in fracture reduction and patient postoperative rehabilitation compared with the traditional reduction methods.