股骨干骨折复位是长骨骨折治疗的核心技术.本文在概述传统复位方法的基础上,分析了计算机辅助股骨干骨折复位技术的现状、特点和趋势.笔者首先分析了导航复位具有的空间映射、可视化界面等技术特征.其次,比较了串联机构机器人和并联机构机器人在骨折复位操作过程中的特点,即串联机器人操作空间大、灵巧性高,而并联机器人定位精度高、状态维持性好.然后,从计算机辅助股骨干骨折复位的人机操作模式角度,分析骨折复位本地操作的实时操作特性和遥操作的抗辐射特性.最后,讨论了骨折复位效果的评估方法及其未来发展趋势.%Femoral shaft fracture reduction is a key technique for long bone fracture therapy. Based on the description of traditional reduction methods, the status, characteristics and performance of computer assisted reduction for femoral shaft fracture are summarized. Firstly, the technical aspects of navigated reduction in space mapping and visualization interface are analyzed. Secondly,the operational characters of serial mechanism robot and parallel mechanism robot in the procedure of bone fracture reduction are compared. The operation space and dexterity of serial robot are bigger, positioning accuracy and pose maintenance stability of parallel robot are higher. Then the real time operation feature of local operation and the anti-eradiation feature of tele-operation are investigated from the aspect of human-machine operation mode in the femoral shaft fracture reduction. Finally, the evaluation methods of fracture reduction effect and the development trend are discussed.
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