电动式六轴外固定支架系统及骨折复位方法设计

doi:10.3901/JME.2025.17.205

机械工程学报 ›› 2025, Vol. 61 ›› Issue (17): 205-214.doi: 10.3901/JME.2025.17.205

• 数字化设计与制造 • 上一篇

扫码分享

电动式六轴外固定支架系统及骨折复位方法设计

杜佳佳¹, 李杏华¹, 张涛², 刘钊², 梅晓龙², 李绍辉³, 徐卫国²

1. 天津大学精密测试技术及仪器国家重点实验室天津 300072;
2. 天津医院天津 300211;
3. 交通运输部天津水运工程科学研究所天津 300400

收稿日期:2024-09-06 修回日期:2025-04-03 发布日期:2025-10-24
作者简介:杜佳佳，女，1999年出生。主要研究方向为嵌入式系统、机械设计。E-mail：dujiajia@tju.edu.cn;李杏华，男，1976年出生，博士，副教授。主要研究方向为光滑表面的微粗糙度检测、基于嵌入式系统的信号处理技术、数控机床的自动校准。E-mail：lixinghua@tju.edu.cn;徐卫国(通信作者)，男，1972年出生，博士，教授，博士研究生导师。主要研究方向为创伤骨科、肢体畸形矫正与骨科术后快速康复。E-mail：13702172721@163.com
基金资助:
天津市自然科学基金资助项目(24JCZDJC01130)。

Design of an Electric Hexapod External Fixator System and Fracture Reduction Method

DU Jiajia¹, LI Xinghua¹, ZHANG Tao², LIU Zhao², MEI Xiaolong², LI Shaohui³, XU Weiguo²

1. State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin 300072;
2. Tianjin Hospital, Tianjin 300211;
3. Tianjin Institute of Water Transport Engineering Science, Ministry of Transport, Tianjin 300400

Received:2024-09-06 Revised:2025-04-03 Published:2025-10-24

摘要/Abstract

摘要： 六轴外固定支架被广泛应用于骨折治疗和骨骼畸形矫正。实现支架6根连杆的同步化电动调节有利于防止有害剪切应力的出现，而对支架进行力学载荷分担比的测量，可用于监测骨骼生长愈合程度、避免骨折端应力遮挡促进生长。因此，设计了一种电动式六轴外固定支架系统，主要包括支架架体、控制模块和人机交互界面三个部分。基于内置电机和压力传感器，设计了电动的机械结构，通过控制模块驱动连杆长度自动调节，并实时得到连杆的受力状态；建立支架的数学模型，推导了骨折复位算法和支架轴向载荷分担比计算方法，得到了骨骼在任意安装与畸形状态下的复位杆长和轴向载荷分担比。建立支架-骨折仿真模型，验证了骨折复位算法的正确性。开展股骨骨折复位实验，结果表明，该电动式六轴外固定支架系统可有效地实现骨折复位和骨折端受力监测。

关键词: 外固定支架, 电动连杆, 骨折复位, 骨折端受力

Abstract: The hexapod external fixator is widely used in the treatment of fractures and the correction of skeletal deformities. Synchronized electrical adjustment of its six connecting rods proves advantageous in preventing harmful shear stresses, while measurement of mechanical load-sharing ratios enables monitoring of skeletal growth and healing progress, thereby avoiding bone-end stress shielding to facilitate recovery. An electromechanical hexapod external fixator system is accordingly developed, comprising three primary components: a structural frame, control module, and human-machine interface. An electromechanical structure incorporating built-in motors and pressure sensors is designed to enable automatic rod-length adjustment through control module operation and real-time force monitoring. A mathematical model of the fixator is established, and the fracture reduction algorithm and the calculation method for the axial load-sharing ratio of the fixator are derived, permitting determination of repositioning parameters and load distribution under various installation configurations and deformity conditions. A fixator-fracture simulation model is established to verify the correctness of the fracture reduction algorithm. A femoral fracture reduction experiment is conducted, and the results show that the electric hexapod external fixator system can effectively achieve fracture reduction and monitoring of the fixator’s force.

Key words: external fixator, electric actuator rods, fracture reduction, bone end force

中图分类号:

TH89

杜佳佳, 李杏华, 张涛, 刘钊, 梅晓龙, 李绍辉, 徐卫国. 电动式六轴外固定支架系统及骨折复位方法设计[J]. 机械工程学报, 2025, 61(17): 205-214.

DU Jiajia, LI Xinghua, ZHANG Tao, LIU Zhao, MEI Xiaolong, LI Shaohui, XU Weiguo. Design of an Electric Hexapod External Fixator System and Fracture Reduction Method[J]. Journal of Mechanical Engineering, 2025, 61(17): 205-214.

参考文献

[1] QIN Sihe, GUO Baofeng, ZHENG Xuejian, et al. Domestic external fixator application in the treatment of limb deformities: 7289 cases application report[J]. Chinese Journal of Surgery, 2017, 55(9): 678-683.
[2] FERREIRA N, MARE P H, MARAIS L, et al. Circular external fixator application for midshaft tibial fractures: Surgical technique[J]. Sa Orthopaedic Journal, 2012, 11(4): 39-42.
[3] TAN T H, TANG C Q Y, SREEDHARAN S. A case report of pin site osteomyelitis after 17 years of external fixator application to distal radius fracture[J]. Journal of Hand and Microsurgery, 2024, 16(2): 100025.
[4] CHENG Liang, XU Jia. Bone transport for lower limb bone defects: Circular versus monolateral external fixators[J]. Chinese Journal of Orthopaedic Trauma, 2015, 17(10): 863-867.
[5] WENDLANDT R, WACKENHUT F, SEIDE K, et al. Bone mounted hexapod robot for outpatient distraction osteogenesis[C]//4th European Conference of the International Federation for Medical and Biological Engineering, November 23-27, 2008, Antwerp, Belgium. Berlin: Springer, 2009: 1679-1682.
[6] WENDLANDT R, SEIDE K, JURGENS C, et al. Telemedical control of a robotic external fixator[C]//World Congress on Medical Physics and Biomedical Engineering, September 7-12, 2009, Munich, Germany. Berlin: Springer, 2009: 115-118.
[7] KESHET D, EIDELMAN M. Clinical utility of the Taylor spatial frame for limb deformities[J]. Orthop Res Rev, 2017, 9: 51-61.
[8] TAKATA M, VILENSKY V A, TSUCHIYA H. Foot deformity correction with hexapod external fixator, the Ortho-SUV frame^TM[J]. The Journal of Foot and Ankle Surgery, 2013, 52(3): 324-330.
[9] WEI Mengting, CHEN Jianwen, GUO Yue, et al. The computer-aided parallel external fixator for complex lower limb deformity correction[J]. International Journal of Computer Assisted Radiology and Surgery, 2017, 12(12): 2107-2117.
[10] LI Guotong, LI Jianfeng, DONG Mingjie. Development and preliminary trajectory verification of the electromotor-driven parallel external fixator for deformity correction[J]. Applied Sciences, 2020, 10(24): 9074.
[11] WRIGHT J, SABAH S A, PATEL S. The silhouette technique: Improving post-operative radiographs for planning of correction with a hexapod external fixator[J]. Strategies in Trauma and Limb Reconstruction, 2017, 12(2): 127-131.
[12] MUTLU H, AKCALI I D, GULSEN M. A mathematical model for the use of a Gough-Stewart platform mechanism as a fixator[J]. Journal of Engineering Mathematics, 2006, 54(2): 119-143.
[13] LI Guotong, LI Jianfeng, ZUO Shiping, et al. Influence of parameter deviation on the closeness of the tibial limb and external fixator based on a novel collision detection algorithm[J]. International Journal for Numerical Methods in Biomedical Engineering, 2021, 37(7): e3502.
[14] BLIVEN E K, GREINWALD M, HACKL S. External fixation of the lower extremities: Biomechanical perspective and recent innovations[J]. Injury, 2019, 50: S10-S17.
[15] FRYDRYSEK K, UCEN O, KUBIN T, et al. New designs of external fixators for treatment in traumatology[C]//18th International Conference on Engineering Mechanics, May 14-17, 2012, Svratka, Czech Republic. 2012: 301-308.
[16] BRIGHT A S, HERZENBERG J E, PALEY D, et al. Preliminary experience with motorized distraction for tibial lengthening[J]. Strategies in Trauma and Limb Reconstruction, 2014, 9(2): 97-100.
[17] LI Hongwei, LI Dichen, QIAO Feng, et al. 3D printing adjustable stiffness external fixator for mechanically stimulated healing of tibial fractures[J]. BioMed Research International, 2021, 2021(1): 1-14.
[18] AARNES G T, STEEN H, LUDVIGSEN P, et al. In vivo assessment of regenerate axial stiffness in distraction osteogenesis[J]. Journal of Orthopaedic Research, 2005, 23(2): 494-498.
[19] LIU Yanshi, CAI Feiyu, LIU Kai, et al. Bony callus stiffness indirectly evaluated by the axial load-share ratio in vivo as a guide to removing a monolateral external fixator safely[J]. International Orthopaedics, 2021, 45(12): 3015-3023.
[20] 刘钊, 万春友, 张涛, 等. 轴向载荷分担比测试辅助Taylor空间支架治疗胫腓骨骨折的作用[J]. 中华创伤杂志, 2019, 35(4): 348-353. LIU Zhao, WAN Chunyou, ZHANG Tao, et al. Effect of axial load test in assisting Taylor spatial frame for tibia and fibula fractures[J]. China Trauma, 2019, 35(4): 348-353.
[21] CHEN Jianwen, SHI Xuewei, WEI Mengting. Study on the algorithm of multifunctional bone external fixator[C]//2015 7th International Conference on Mechanical and Electronics Engineering (ICMEE 2015), September 26-27, 2015, Dalian, China. Les Ulis: EDP Sciences, 2015: 224-228.
[22] 方航, 毛芸生, 叶俊材, 等. 基于六轴空间支架的胫骨骨折端力学环境测量方法研究[J]. 高技术通讯, 2022, 32 (6): 655-662. FANG Hang, MAO Yunsheng, YE Juncai, et al. Research on measurement method of mechanical environment of tibial fracture end with six-axis special frame[J]. Chinese High Technology Letters, 2022, 32(6): 655-662.

电动式六轴外固定支架系统及骨折复位方法设计

Design of an Electric Hexapod External Fixator System and Fracture Reduction Method

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 2

编辑推荐

Metrics

本文评价

[1]	李锦龙, 刘传耙, 孙涛, 张弢, 连宾宾, 宋轶民. 面向并联骨折手术机器人的复位轨迹自动式规划方法[J]. 机械工程学报, 2022, 58(5): 26-33.
[2]	崔睿, 陈殿生, 苏鹏, 李剑, 孙昊. 骨折复位及畸形矫正机器人的轨迹规划研究进展[J]. 机械工程学报, 2022, 58(13): 1-21.