Page 29 - 《中国医疗器械杂志》2026年第2期

Chinese Journal of Medical Instrumentation 2026年 第50卷 第2期

医 疗 机 器 人

文章编号：1671-7104(2026)02-0143-09

柔性驱动骨折复位机器人轨迹跟踪控制研究

【作 者】 朱庆 1,2,3 ，江堤 ，赵龙 ，涂德浴 2,3
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1 阜阳师范大学 计算机与信息工程学院，阜阳市，236037
2 特种重载机器人安徽省重点实验室，马鞍山市，243032
3 安徽工业大学 机械工程学院，马鞍山市，243032
【摘 要】 目的 为降低软组织医源性损伤及断端碰撞风险，维持满意的复位状态以执行髓内钉内固定等操作，开展骨
折复位机器人轨迹跟踪控制研究。方法 首先，结合骨折复位机器人驱动特点，对于完成沿股骨轴向牵引动
作的牵引机构，设计滑模变结构控制器，对于完成绕股骨周向旋转及骨折断端正侧位复位动作的旋转机
构，设计关节自适应模糊PID控制器；然后，为保证复位过程平稳无冲击，采用五次非均匀B样条曲线对机
器人进行复位轨迹规划；最后，对机器人开展相同的肌肉收缩力和外界干扰状态下的复位模拟实验。结果
复位完成后最大成角误差小于2°，最大平移残余为2.3 mm，复位精度满足临床功能性复位标准。在机器人
维持复位状态时，人为给予骨折远端一个干扰信号，系统在3.6 s内恢复丢失的复位状态并稳定在目标值。
结论 实验结果证实了骨折复位机器人控制系统具有良好的柔顺性和鲁棒性，以及良好的应用前景。
【关 键 词】 柔性驱动；股骨干骨折；复位机器人；轨迹规划；系统稳定性
【中图分类号】 TP242.3
【文献标志码】 A doi: 10.12455/j.issn.1671-7104.250396
Study on Trajectory Tracking Control of a Flexibly-Driven Fracture
Reduction Robot
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【 Authors 】 ZHU Qing 1,2,3 , JIANG Di , ZHAO Long , TU Deyu 2,3
1 School of Computer and Information Engineering, Fuyang Normal University, Fuyang, 236037
2 Anhui Province Key Laboratory of Special Heavy Load Robot, Ma’anshan, 243032
3 School of Mechanical Engineering, Anhui University of Technology, Ma’anshan, 243032
【 Abstract 】 Objective To reduce the risk of iatrogenic soft tissue injury and collision between fracture fragments,
while maintaining a satisfactory reduction state to perform procedures such as intramedullary nail internal
fixation, research on trajectory tracking control for fracture reduction robots was conducted. Methods
Firstly, considering the driving characteristics of the fracture reduction robot, a sliding mode variable
structure controller was designed for the traction mechanism responsible for performing axial traction
along the femur. For the rotation mechanism responsible for performing circumferential rotation around
the femur and anteroposterior-lateral reduction of fracture fragments, a joint adaptive fuzzy PID controller
was designed. Secondly, to ensure a smooth and shock-free reduction process, a quintic non-uniform B-
spline curve was employed for reset trajectory planning of the robot. Finally, reduction simulation
experiments were conducted on the robot under the same conditions of muscle contraction force and
external disturbances. Results After reduction, the maximum angular error was less than 2°, and the
maximum translation residual was 2.3 mm, and the reduction accuracy met the clinical functional
reduction criteria. When the robot was maintaining the reduction state and an interference signal was
manually applied to the distal end of the fracture, the system recovered the lost reduction state and
stabilized at the target value within 3.6 s. Conclusion The experimental results confirm the flexibility and
robustness of the robotic control system, which has a promising application prospect.
【Key words】 flexible actuator, femoral shaft fracture, reduction robot, trajectory planning, system stability

收稿日期：2025-06-10
基金项目：特种重载机器人安徽省重点实验室开放基金资助（TZJQR003-2024）；安徽省高校自然科学研究重点项目（KJ2021A0403）；
阜阳师范大学科学研究项目（2025KYQD0035）
作者简介：朱庆，E-mail: qzhu_jx@fynu.edu.cn
通信作者：涂德浴，E-mail: tudeyu@ahut.edu.cn

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