• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2022, Vol. 58 ›› Issue (13): 1-21.doi: 10.3901/JME.2022.13.001

• 机器人及机构学 • 上一篇    下一篇

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骨折复位及畸形矫正机器人的轨迹规划研究进展

崔睿1,2, 陈殿生3, 苏鹏4, 李剑5,6, 孙昊1,2   

  1. 1. 河北工业大学人工智能与数据科学学院 天津 300130;
    2. 河北工业大学智能康复装置与检测技术教育部工程研究中心 天津 300130;
    3. 北京航空航天大学机器人研究所 北京 100191;
    4. 北京信息科技大学机电工程学院 北京 100192;
    5. 北京邮电大学自动化学院 北京 100876;
    6. 国家康复辅具研究中心北京市老年功能障碍康复辅助技术重点实验室 北京 100176
  • 收稿日期:2021-07-13 修回日期:2021-11-21 出版日期:2022-07-05 发布日期:2022-09-13
  • 通讯作者: 李剑(通信作者),男,1985年出生,博士,特聘研究员,博士研究生导师。主要研究方向为医疗康复机器人、智能养老机器人、医用3D打印、智能康复辅助器具等。E-mail:jianli_628@126.com
  • 作者简介:崔睿,男,1997年出生。主要研究方向为机器人轨迹规划。E-mail:cryx0304@163.com;孙昊,男,1979年出生,博士,副教授,硕士研究生导师。主要研究方向为医用服务机器人、智能化医疗器械等。E-mail:sunhao@hebut.edu.cn
  • 基金资助:
    国家自然科学基金(52005120,52005045)、北京市自然科学基金-海淀原始创新联合基金(19L2018)和中央级公益性科研院所基本科研业务费专项资金(118009001000160001)资助项目。

Research Progress on Trajectory Planning of Fracture Reduction and Deformity Correction Robot

CUI Rui1,2, CHEN Diansheng3, SU Peng4, LI Jian5,6, SUN Hao1,2   

  1. 1. School of Artificial Intelligence, Hebei University of Technology, Tianjin 300130;
    2. Engineering Research Center of Intelligent Rehabilitation Device and Detection Technology of Ministry of Education, Hebei University of Technology, Tianjin 300130;
    3. Robotics Institute, Beihang University, Beijing 100191;
    4. School of Mechanical and Electrical Engineering, Beijing Information Science & Technology University, Beijing 100192;
    5. School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876;
    6. Beijing Key Laboratory of Rehabilitation Technical Aids for Old-Age Disability, National Research Center for Rehabilitation Technical Aids, Beijing 100176
  • Received:2021-07-13 Revised:2021-11-21 Online:2022-07-05 Published:2022-09-13

摘要: 骨折复位及畸形矫正机器人对于人体肢体功能的重建具有积极的意义,其轨迹规划的质量直接影响着术后的效果和机器人的实用性,然而目前系统的轨迹规划研究分析较少。简述了骨折复位及畸形矫正机器人国内外发展现状,分析了断骨复位、重建轨迹规划的关键技术和共性问题,从轨迹规划的发展历程、分类以及求解方法三个方面对骨折复位及畸形矫正机器人的轨迹规划研究进展和关键技术进行了综述,并就目前存在的问题和未来发展趋势进行了总结分析,以期为骨折复位及畸形矫正机器人的轨迹规划提供参考和建议,具有积极的研究意义。

关键词: 骨折复位, 畸形矫正, 机器人, 轨迹规划, 肌骨模型一体化

Abstract: The fracture reduction and deformity correction robot has positive significance for the reconstruction of human limb function. The postoperative effect and the practicability of the robot are directly affected by the quality of its trajectory planning. However, there are still few systematic studies on trajectory planning analysis. The development status of fracture reduction and deformity correction robot at home and abroad is briefly described, and the key technologies and common problems of the trajectory planning for reduction and reconstruction of broken bone are analyzed. The research progress and the key technology of trajectory planning for fracture reduction and deformity correction robot are reviewed from the development course, classification and solution methods. Meanwhile, the problems at this stage are summarized and analyzed, and the trend for future development is pointed out. The references and suggestions are expectantly provided for the trajectory planning of fracture reduction and deformity correction robot, which has positive research significance.

Key words: fracture reduction, deformity correction, robot, trajectory planning, integration of musculoskeletal model

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