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[1]尹曉冬,李浩,成永忠,等.三臂十一軸骨折復(fù)位機(jī)器人在山羊脛骨干骨折復(fù)位中應(yīng)用的實(shí)驗(yàn)研究[J].中醫(yī)正骨,2024,36(12):1-7.
　YIN Xiaodong,LI Hao,CHENG Yongzhong,et al.Applying a three-arm eleven-axis robot in the reduction of tibial shaft fractures in goats:an experimental study[J].The Journal of Traditional Chinese Orthopedics and Traumatology,2024,36(12):1-7.
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三臂十一軸骨折復(fù)位機(jī)器人在山羊脛骨干骨折復(fù)位中應(yīng)用的實(shí)驗(yàn)研究()
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《中醫(yī)正骨》[ISSN:1001-6015/CN:41-1162/R]

卷:
第36卷
期數(shù):
2024年12期
頁(yè)碼:
1-7
欄目:
基礎(chǔ)研究
出版日期:
2024-12-20

文章信息/Info

Title:
Applying a three-arm eleven-axis robot in the reduction of tibial shaft fractures in goats:an experimental study
作者:
尹曉冬1; 李浩2; 成永忠1; 陳洋1; 劉飛1; 李銳1; 陳健龍3; 肖嘉冕3; 李春廣4; 王書元4; 李克4
1.中國(guó)中醫(yī)科學(xué)院望京醫(yī)院,北京 100102; 2.聊城市人民醫(yī)院,山東 聊城 252000; 3.北京中醫(yī)藥大學(xué)研究生院,北京 100029; 4.南陽(yáng)市中醫(yī)院,河南 南陽(yáng) 473006
Author(s):
YIN Xiaodong1; LI Hao2; CHENG Yongzhong1; CHEN Yang1; LIU Fei1; LI Rui1; CHEN Jianlong3; XIAO Jiamian3; LI Chunguang4; WANG Shuyuan4; LI Ke4
1.Wangjing Hospital of CACMS,Beijing 100102,China 2.Liaocheng People's Hospital,Liaocheng 252000,Shandong,China 3.Graduate School of Beijing University of Chinese Medicine,Beijing 100029,China 4.Nanyang TCM Hospital,Nanyang 473006,Henan,China
關(guān)鍵詞:
脛骨骨折;  機(jī)器人外科手術(shù);  山羊;  動(dòng)物實(shí)驗(yàn)
Keywords:
tibial fractures;  robotic surgical procedures;  goats;  animal experimentation
摘要:
目的:研究應(yīng)用三臂十一軸骨折復(fù)位機(jī)器人進(jìn)行山羊脛骨干骨折復(fù)位的有效性和安全性。方法:選取健康雄性山羊6只,將每只山羊的雙側(cè)后肢采用抽簽法隨機(jī)分為機(jī)器人復(fù)位組和徒手復(fù)位組,每組6條山羊后肢。在山羊雙側(cè)后肢脛骨下1/3處截骨建立山羊脛骨干骨折模型,然后機(jī)器人復(fù)位組采用三臂十一軸骨折復(fù)位機(jī)器人進(jìn)行骨折閉合復(fù)位,徒手復(fù)位組徒手進(jìn)行骨折閉合復(fù)位。骨折復(fù)位后均采用外固定支架固定。記錄術(shù)中骨折達(dá)到復(fù)位標(biāo)準(zhǔn)的復(fù)位次數(shù)、X線透視次數(shù),以及復(fù)位參與人數(shù)和手術(shù)時(shí)間(從開始切口造模至骨折復(fù)位固定完成的時(shí)間,包括造模及復(fù)位準(zhǔn)備時(shí)間和骨折復(fù)位固定時(shí)間2部分)。觀察術(shù)中機(jī)器人設(shè)備運(yùn)行情況。手術(shù)結(jié)束后,在山羊后肢X線片上,測(cè)量骨折端側(cè)方成角、前后成角、側(cè)方移位距離、軸向移位距離和前后移位距離,評(píng)價(jià)骨折復(fù)位情況。結(jié)果:手術(shù)過(guò)程中三臂十一軸骨折復(fù)位機(jī)器人運(yùn)行平穩(wěn),無(wú)側(cè)翻、結(jié)構(gòu)松動(dòng)、失控及故障報(bào)警等安全事故發(fā)生。機(jī)器人復(fù)位組術(shù)中復(fù)位參與人數(shù)少于徒手復(fù)位組(Z=-3.052,P=0.002),造模及復(fù)位準(zhǔn)備時(shí)間長(zhǎng)于徒手復(fù)位組(Z=-2.908,P=0.004),骨折端側(cè)方成角小于徒手復(fù)位組(Z=-2.242,P=0.025); 2組山羊后肢其他手術(shù)情況及骨折復(fù)位評(píng)價(jià)指標(biāo)比較,組間差異均無(wú)統(tǒng)計(jì)學(xué)意義。結(jié)論:與徒手復(fù)位相比,應(yīng)用三臂十一軸骨折復(fù)位機(jī)器人閉合復(fù)位山羊脛骨干骨折,骨折復(fù)位好、復(fù)位參與人數(shù)少,且安全性好,但準(zhǔn)備時(shí)間較長(zhǎng)。
Abstract:
Objective:To investigate the outcomes and safety of a three-arm eleven-axis robot in the reduction of tibial shaft fractures(TSFs)in goats.Methods:Six healthy male goats were selected,and their bilateral hind limbs were randomized into a robot reduction group and a manual reduction group by drawing lots,with 6 hind limbs in each group.The TSFs models were established by osteotomy at the lower one-third of the tibia in the bilateral hind limbs of the goats.After successful modeling,the hind limbs in robot reduction group were treated with closed reduction by using a three-arm eleven-axis robot,while,that in manual reduction group by hand.After successful reduction,all fractures were fixed with external fixator.The times of reduction reaching the criteria of fracture reduction during the surgical process,intraoperative X-ray exposure,the participants involved in the reduction,and the surgery time(the time from the beginning of making incision for modeling to the completion of fracture reduction and fixation,including the time for preparing modeling and reduction,and the time for fracture reduction and fixation)were recorded,and the operation of the robot during the surgical process was observed.After the end of the surgery,the lateral angulation,anteroposterior angulation,lateral displacement distance,axial displacement distance,and anteroposterior displacement distance at the fractured ends were measured on the X-ray films of the hind limbs of the goats to evaluate fracture reduction performance.Results:During the surgical process,the three-arm eleven-axis robot ran smoothly without the safety accidents such as rollover,structural looseness,loss of control,and fault alarms.Moreover,the robot reduction group need fewer participants in the reduction,longer time in preparing modeling and reduction,and presented smaller lateral angulation at the fractured end compared to the manual reduction group(Z=-3.052,P=0.002; Z=-2.908,P=0.004; Z=-2.242,P=0.025); while,the comparison of the other surgical conditions and the fracture reduction evaluation indicators for the hind limbs of goats revealed no significant differences between the 2 group.Conclusion:The three-arm eleven-axis robot achieves better fracture reduction performance,needs fewer participants in the reduction,and behaves higher safety,but requires longer preparation time compared to the manual reduction in the closed reduction of TSFs in goats.

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備注/Memo

備注/Memo:
基金項(xiàng)目:中國(guó)中醫(yī)科學(xué)院科技創(chuàng)新工程項(xiàng)目(CI2023C004YG); 國(guó)家自然科學(xué)基金項(xiàng)目(82274561)
通訊作者:成永忠 E-mail:[email protected]
更新日期/Last Update: 1900-01-01