基于神经网络的足踝外固定矫形方案设计方法

针对六轴外固定器在足踝矫形时的调整方案设计问题以及矫形器在治疗过程中的位姿变化轨迹优化问题，提出了基于神经网络的足踝外固定矫形方案设计方法。首先结合神经网络对六轴外固定器进行了运动学分析，其次讨论了针对不同矫形目标的常规踝构型、斜接串联构型、对接串联构型以及并联构型等不同矫形器构型模式，最后分析了六轴外固定器的计算机辅助调整方案并考虑了伸缩螺杆调节顺序对治疗轨迹的影响。实验结果表明，基于所提方法设计的六轴外固定器调整方案可以对不同足踝畸形类型下的矫正治疗进行有效指导并均能取得理想的残余畸形，平均残余位移畸形小于1 mm且平均残余成角畸形小于1°;同时也可以使六轴外固定器在治疗过程中的位姿变化轨迹更接近理想线性轨迹，优化后的位置轨迹偏移量和姿态轨迹偏移量分别减少了31%和19%,有效减缓了患者的痛苦并改善足踝矫形治疗体验。

Research on foot and ankle deformity correction schemes with external fixator based on neural network

Aiming at the design of the adjustment scheme for the hexapod external fixator and the optimization of the position and posture changing trajectory of the fixator during the deformity correction of the foot and ankle, a method of adjustment scheme for the external fixator based on the neural network is proposed. Firstly, the kinematics of the hexapod external fixator is analyzed with the neural network. Secondly, different deformity correction modes including ankle mode, miter mode, butt mode and parallel mode, are discussed. Finally, a computer-aided adjustment scheme of the hexapod external fixator is proposed and the adjustment sequence of telescopic screws is discussed in the calculation. Experimental results show that the adjustment scheme which designed based on the proposed method could effectively guide the correction of different types of foot and ankle deformities. They could achieve ideal remained deformity and the average residual displacement deformity is less than 1 mm and the average residual angular deformity is less than 1°. Meanwhile, with this adjustment scheme, the position and posture changing trajectory of the hexapod external fixator could be closer to the ideal linear trajectory, and the offset of optimized position changing trajectory and optimized posture trajectory changing are reduced by 31% and 19% respectively, which effectively alleviate the pain of patients and improved the experience of deformity correction.