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轨迹驱动式踝关节被动康复方案设计

杨捷 孙振辉 张弢 宋轶民 孙涛

杨捷,孙振辉,张弢, 等. 轨迹驱动式踝关节被动康复方案设计[J]. 机械科学与技术,2020,39(12):1828-1835 doi: 10.13433/j.cnki.1003-8728.20190349
引用本文: 杨捷,孙振辉,张弢, 等. 轨迹驱动式踝关节被动康复方案设计[J]. 机械科学与技术,2020,39(12):1828-1835 doi: 10.13433/j.cnki.1003-8728.20190349
Yang Jie, Sun Zhenhui, Zhang Tao, Song Yimin, Sun Tao. Designing Trajectory-driven Program of Passive Rehabilitation for Ankle Fracture[J]. Mechanical Science and Technology for Aerospace Engineering, 2020, 39(12): 1828-1835. doi: 10.13433/j.cnki.1003-8728.20190349
Citation: Yang Jie, Sun Zhenhui, Zhang Tao, Song Yimin, Sun Tao. Designing Trajectory-driven Program of Passive Rehabilitation for Ankle Fracture[J]. Mechanical Science and Technology for Aerospace Engineering, 2020, 39(12): 1828-1835. doi: 10.13433/j.cnki.1003-8728.20190349

轨迹驱动式踝关节被动康复方案设计

doi: 10.13433/j.cnki.1003-8728.20190349
基金项目: 国家重点研发计划项目(2018YFB1307800)、国家自然科学基金项目(51775367)及京津冀三地协同创新研发项目(18YFSDZC00010)资助
详细信息
    作者简介:

    杨捷(1994−),硕士研究生,研究方向为骨科医疗机器人,yangjie0611@tju.edu.cn

    通讯作者:

    孙振辉,副主任医师,博士,sunzhenhui123@gmail.com

  • 中图分类号: TP242

Designing Trajectory-driven Program of Passive Rehabilitation for Ankle Fracture

  • 摘要: 并联外固定技术是一种面向踝关节骨折的新型治疗方法,亟需研究该治疗模式下的骨折术后康复理论。结合临床上连续被动运动康复理念,提出了通过正常运动轨迹驱动并联外固定器械运动的新型踝关节骨折被动康复方案。该方案设计了踝关节运动规律测定实验,通过Optotrak Certus三维测量系统捕捉正常运动状态下的标记物位置,在MATLAB中计算踝关节运动轨迹与运动范围。选取符合正常踝关节运动规律的康复轨迹,使外固定器械动平台按该轨迹运动,通过并联机构运动学逆解计算各支链杆长,形成被动康复方案。该方案可为采用并联外固定器械的踝关节骨折提供一种有效的术后康复方法。
  • 图  1  踝关节解剖结构示意图

    图  2  并联外固定器械结构示意图

    图  3  踝关节骨折被动康复方案流程图

    图  4  Optotrak Certus三维动态测量系统

    图  5  测量系统布置俯视图

    图  6  体表标记物布置情况

    图  7  踝关节运动测量实验

    图  8  同一被测者踝关节运动情况

    图  9  形心G位置示意图

    图  10  G单周期运动轨迹

    图  11  踝关节近似旋转中心

    图  12  踝关节运动角度范围

    图  13  并联外固定器械机构简图

    图  14  康复轨迹拟合曲线

    图  15  动平台模拟安装

    图  16  各支链杆长调节方案

    表  1  不同被测者踝关节运动统计 mm

    被测者实验
    序号
    ${\bar x_1}$${\bar y_1}$${\bar {\textit{z}}_1}$${\sigma _{{x_1}}}$${\sigma _{ {y_1} } }$${\sigma _{{{\textit{z}}_1}}}$
    1 1 575.07 171.94 519.15 35.93 51.91 31.54
    2 576.58 165.23 525.94 38.30 50.41 32.74
    3 578.31 160.69 528.46 37.10 52.88 33.75
    2 1 663.78 211.82 562.68 34.48 48.41 33.69
    2 676.09 199.90 571.36 32.90 46.45 34.07
    3 652.47 213.10 566.66 36.14 47.88 32.20
    3 1 599.38 223.58 546.87 31.84 45.14 29.30
    2 589.30 234.59 546.12 34.26 49.08 30.29
    3 596.05 220.47 545.59 33.98 46.56 29.17
    下载: 导出CSV

    表  2  离散化康复轨迹 mm

    序号xyz
    1470.9300567.74
    2471.5300567.08
    $\vdots$$\vdots$$\vdots$$\vdots$
    79549.3300468.71
    80550.2300464.66
    下载: 导出CSV
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出版历程
  • 收稿日期:  2019-08-11
  • 网络出版日期:  2021-02-02
  • 刊出日期:  2020-12-05

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