轨迹驱动式踝关节被动康复方案设计

Designing Trajectory-driven Program of Passive Rehabilitation for Ankle Fracture

并联外固定技术是一种面向踝关节骨折的新型治疗方法,亟需研究该治疗模式下的骨折术后康复理论。结合临床上连续被动运动康复理念,提出了通过正常运动轨迹驱动并联外固定器械运动的新型踝关节骨折被动康复方案。该方案设计了踝关节运动规律测定实验,通过Optotrak Certus三维测量系统捕捉正常运动状态下的标记物位置,在MATLAB中计算踝关节运动轨迹与运动范围。选取符合正常踝关节运动规律的康复轨迹,使外固定器械动平台按该轨迹运动,通过并联机构运动学逆解计算各支链杆长,形成被动康复方案。该方案可为采用并联外固定器械的踝关节骨折提供一种有效的术后康复方法。

Parallel external fixation is a new treatment method for ankle fracture,which is an essential problem to study the fracture rehabilitation theory with this treatment method.Based on the clinical rehabilitation concept of continuous passive motion,we design a new passive rehabilitation program for ankle fracture,which drives a parallel external fixator's movement with the normal motion trajectory.With this program,the experiment for measuring the law of ankle movement is designed.The positions of markers under normal motion state were captured by the three-dimensional measurement system called Optotrak Certus.The motion trajectory of an ankle and its range were calculated with the MATLAB software.The rehabilitation trajectory which conforms with the normal ankle motion law is selected to drive the external fixator's moving platform move according to the trajectory.The length of each branch chain was calculated with the inverse kinematics of parallel mechanism;thus the complete passive rehabilitation program was formed,effectively rehabilitating ankle fracture with a parallel external fixator.