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[1]郭悅,董鑫宇,蘇秀云,等.六自由度并聯(lián)機(jī)器人模擬中醫(yī)正骨手法復(fù)位簡單骨折的可行性研究[J].中醫(yī)正骨,2020,32(07):1-5.
　GUO Yue,DONG Xinyu,SU Xiuyun,et al.A feasibility study of simulated TCM bone-setting manipulative reduction using 6-degree of freedom parallel robot for treatment of simple fractures[J].The Journal of Traditional Chinese Orthopedics and Traumatology,2020,32(07):1-5.
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六自由度并聯(lián)機(jī)器人模擬中醫(yī)正骨手法復(fù)位簡單骨折的可行性研究()
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《中醫(yī)正骨》[ISSN:1001-6015/CN:41-1162/R]

卷:
第32卷
期數(shù):
2020年07期
頁碼:
1-5
欄目:
基礎(chǔ)研究
出版日期:
2020-07-20

文章信息/Info

Title:
A feasibility study of simulated TCM bone-setting manipulative reduction using 6-degree of freedom parallel robot for treatment of simple fractures
作者:
郭悅1; 董鑫宇2; 蘇秀云1; 張海濤1; 康會(huì)坤1; 孫昊2; 陳建文1
1.國家康復(fù)輔具研究中心附屬康復(fù)醫(yī)院,北京 100176; 2.河北工業(yè)大學(xué),天津 300401
Author(s):
GUO Yue1; DONG Xinyu2; SU Xiuyun1; ZHANG Haitao1; KANG Huikun1; SUN Hao2; CHEN Jianwen1
1.The Affiliated Rehabilitation Hospital of National Research Center for Rehabilitation Technical Aids,Beijing 100176,China 2.Hebei University of Technology,Tianjin 300401,China
關(guān)鍵詞:
正骨手法;  骨折;  六自由度并聯(lián)機(jī)器人
Keywords:
bone setting manipulation;  fractures;  6-degree of freedom parallel robot
摘要:
目的:探討六自由度并聯(lián)機(jī)器人模擬中醫(yī)正骨手法復(fù)位簡單骨折的可行性。方法:利用MATLAB軟件繪制六自由度并聯(lián)機(jī)器人的工作空間。將1個(gè)人體脛骨模型從中段切斷,模擬脛骨橫形骨折。通過計(jì)算機(jī)在測(cè)定的機(jī)器人工作空間范圍內(nèi)隨機(jī)生成100例脛骨橫形骨折的移位和成角數(shù)據(jù)。根據(jù)機(jī)器人的實(shí)際指標(biāo)采用MATLAB軟件對(duì)100例脛骨橫形骨折進(jìn)行模擬復(fù)位,然后按照模擬的骨折移位、成角數(shù)據(jù)擺放脛骨骨折模型,脛骨骨折模型兩端采用直徑4.0 mm螺紋骨針分別固定在機(jī)器人的固定平臺(tái)和動(dòng)平臺(tái)上,采用機(jī)器人對(duì)脛骨骨折模型進(jìn)行復(fù)位。結(jié)果:六自由度并聯(lián)機(jī)器人的動(dòng)平臺(tái)在正立位時(shí)的工作空間為高度300 mm、活動(dòng)半徑250 mm的傘形區(qū)域。MATLAB軟件模擬復(fù)位的平均位移誤差為0.21 mm,平均成角誤差為0.02°; 機(jī)器人復(fù)位骨折的平均位移誤差為1.2 mm、平均成角誤差為1.3°,最大位移誤差為2.6 mm、最大成角誤差為2.1°。結(jié)論:六自由度并聯(lián)機(jī)器人的工作空間覆蓋范圍廣,復(fù)位簡單骨折精度高,應(yīng)用該機(jī)器人模擬中醫(yī)正骨手法復(fù)位簡單骨折具有較高的可行性。
Abstract:
Objective:To explore the feasibility of simulated TCM bone-setting manipulative reduction using 6-degree of freedom(DOF)parallel robot for treatment of simple fractures.Methods:The workspace of 6-DOF parallel robot was drawn by using MATLAB software.A human tibial model was selected and cut in half to simulate tibial transverse fracture.The displacement and angulation data of 100 transverse tibial fracture models were randomly generated by computer within the range of measured workspace of the 6-DOF parallel robot.The fracture reductions were simulated on 100 transverse tibial fracture models by using MATLAB software according to the actual indexes of 6-DOF parallel robot,and the tibial fracture models were placed according to the simulated displacement and angulation data.The opposite ends of tibial fracture models were fixed on the fixed platform and moving platform of the robot respectively with 4.0-mm diameter screw-thread spicules,and reductions were performed on the tibial fracture models by 6-DOF parallel robot.Results:The workspace of the moving platform of 6-DOF parallel robot in orthostatism was an umbrella-shaped area with 300 mm in height and 250 mm in moving radius.The mean deviation in displacement and angulation were 0.21 mm and 0.02 degrees respectively in simulating reduction by MATLAB software,and were 1.2 mm and 1.3 degrees respectively in simulating reduction by 6-DOF parallel robot.The maximum deviation in displacement and angulation were 2.6 mm and 2.1 degrees respectively in simulating reduction by 6-DOF parallel robot.Conclusion:The 6-DOF parallel robot covers wide area in the workspace and has a high accuracy in reduction of simple fractures.It is feasible for 6-DOF parallel robot to simulate TCM bone-setting manipulation in reduction of simple fractures.

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備注/Memo

備注/Memo:
基金項(xiàng)目:北京市科技計(jì)劃課題(Z181100001718194) 通訊作者:陳建文 E-mail:[email protected]
更新日期/Last Update: 2020-07-20