基于医学影像导引的四肢骨折精准复位固定技术基础研究

针对四肢骨折临床治疗存在的复位精度低，稳定性差难题，结合传统骨折复位固定理论与机械自动化技术，提出“基于医学影像导引的四肢骨折精准复位固定技术基础研究”。研究不确定状态下骨折影像全景建模、位姿优化和目标实时追踪关键技术原理，实现基于医学影像导引的实体追踪；研究基于螺纹针穿刺的骨折术前夹持及术后固定的精确定位机理，包括本构模型构建、螺纹针针头几何形状对定位影响、螺纹针与骨骼结合面的生/机结合机制与力能交互作用规律等，实现骨折远近端术中准确夹持及术后精确定位；研究四肢骨折精准复位轨迹路径规划及机械臂应用系统集成，构建面向四肢骨折精准复位及固定手术系统平台；研究四肢骨折精准复位系统应用生物力学性能测试与效果评估，形成四肢骨折精准复位及固定一体化系统的安全性、有效性检测规范与评估方法。本项目研制成功将提高我国四肢骨折精准复位及固定手术自动化、精准化水平，技术经济和社会效益显著。

Aiming at the problems of low reduction accuracy and poor stability in the clinical treatment of arms and legs fracture, combined with traditional theory of fracture reduction and fixation and mechanical automation, "Basic research on accurate reduction and fixation of arms and legs fracture based on medical imaging guidance" is proposed. The key technical principles of panoramic modeling, pose optimization and target real-time tracking of fracture images in uncertain state is studied, and solid tracking based on medical image guidance is realized. The mechanism of pre-operation clamping and post-operation fixation of fracture based on thread needle puncture is studied, including the construction of constitutive model, the influence of thread needle geometry on positioning, the interaction of raw / machine binding mechanism and force energy action between thread needle and bone binding surface, etc., and the accurate fixation and accurate positioning of the near and far end of the fracture bones are achieved. The trajectory and path planning for accurate reduction of arms/legs fractures and the integration of robotic arm application system are studied, and the construction of the surgical system for accurate reduction and fixation of arms/legs fractures is completed. The biomechanical performance application test and effect evaluation in the precision reduction system of arms/legs fracture is studied, the safety and effectiveness test standard and evaluation method of the integrated system for accurate reduction and fixation of arms/legs fracture is formed. The successful development of this project will improve the automation and precision level of arms/legs fracture reduction and fixation in China, and the technical, economic and social benefits are remarkable.