Transmission efficiency of Ilizarov external fixator
orthopedic force based on coordinate transformation theory

doi:10.3969/j.issn.2095-4344.2679

Chinese Journal of Tissue Engineering Research ›› 2020, Vol. 24 ›› Issue (21): 3287-3292.doi: 10.3969/j.issn.2095-4344.2679

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Transmission efficiency of Ilizarov external fixator orthopedic force based on coordinate transformation theory

Hu Xiangyu¹, Su Peng^{1, 2}, Zhang Li^{2, 3}, Li Jian², Qin Sihe³, Fan Yubo^{2, 4}

¹School of Electromechanical Engineering, Beijing Information Science and Technology University; ²Key Laboratory of Rehabilitation Aids Technology and System of the Ministry of Civil Affairs; ³Affiliated Hospital of National Research Center for Rehabilitation Technical Aids; ⁴Key Laboratory for Biomechanics and Mechanobiology of Ministry of Education

Received:2019-10-08 Revised:2019-10-11 Accepted:2019-12-13 Online:2020-07-28 Published:2020-04-14
Contact: Zhang Li, Associate chief physician, Key Laboratory of Rehabilitation Aids Technology and System of the Ministry of Civil Affairs, National Research Center for Rehabilitation Technical Aids, Beijing 100176, China; Affiliated Hospital of National Research Center for Rehabilitation Technical Aids, Beijing 100176, China Fan Yubo, Professor, Doctoral supervisor, Key Laboratory of Rehabilitation Aids Technology and System of the Ministry of Civil Affairs, National Research Center for Rehabilitation Technical Aids, Beijing 100176, China; Key Laboratory for Biomechanics and Mechanobiology of Ministry of Education, School of Biological Science and Medical Engineering, Beihang University, Beijing 100191, China
About author:Hu Xiangyu, Master candidate, School of Electromechanical Engineering, Beijing Information Science and Technology University, Beijing 100192, China
Supported by:
the National Postdoctoral Science Foundation Project, No. 2018M641290; the Beijing “Young Talents” Cultivation Project, No. CIT&TCD201704063; the Special Fund for the Basic Scientific Research Business Project of the National Rehabilitation Assistance Research Center, No. 118009001000160001; the Beijing Science and Technology Innovation Service Capability Building-Highly Disciplined Mechanical Engineering Project, No. PXM2019_014224_000035_00368792_FCG

Abstract

Abstract:

BACKGROUND: The study on the mechanism of force conduction of Ilizarov bone external fixator is of great significance for clinical orthodontics of the knee varus, the knee valgus and the tibial fracture.

OBJECTIVE: To explore the force conduction mechanism of Ilizarov bone external fixator and the force changes of each orthopedic force in the process of tibia correction, and to objectively evaluate the overall use effect of the external fixator.

METHODS: According to the structure of the external fixator, the coordinate transformation matrix relations were established, and the mathematical transformation relationship between the holding force and the pulling tension was obtained. A special laboratory bench was set. The experiment of tibia correction was conducted. The load on the external fixator and the variation of the orthotic force were measured. The theoretical value of the tension at the broken bone is calculated and compared with the actual value of the tension measured by the six-dimensional force sensor. The curve of efficiency of force transmission during correction was obtained.

RESULTS AND CONCLUSION: (1) During the correction, the structure of the Ilizarov bone external fixator resulted in the interaction and restriction of its adjustment rod and support rod. When one adjustment force increased, the other adjustment force would decrease. (2) The efficiency of force transmission was increased greatly in the early stage, and then stabilized at about 50%. The experimental results could evaluate the overall correction effect of the external fixator. (3) Theoretical calculation and experiment of the tension at the broken bone due to the loss during the force transmission process were different in the result curves, but from the experimental results, it could be indicated that the overall force change trend of the adjustment force, supporting force, the theoretical value of the tension and the actual value of the tension was basically the same, indicating the validity of the theoretical calculations and experimental results. The evaluation results can provide a reference for the optimal design of Ilizarov’s external fixation architecture and the precise control of tibial orthopedic surgery.

Key words: Ilizarov external fixator, orthopedic force, law of force conduction, efficiency of force conduction, transformation of coordinates, orthopedic experiment of tibia, force transducer, mechanical assessment

CLC Number:

Hu Xiangyu, Su Peng, Zhang Li, Li Jian, Qin Sihe, Fan Yubo. Transmission efficiency of Ilizarov external fixator orthopedic force based on coordinate transformation theory[J]. Chinese Journal of Tissue Engineering Research, 2020, 24(21): 3287-3292.

Figures/Tables 6

整个矫治过程分为10个周期，从图中选取较稳定的一个完整周期分析，即为实际中1 d的调节过程，分为矫治时段和停留时段。在矫治时段121 s之前，医师同时调节杆1和杆2力度逐渐增大，并在121 s处达到峰值点A、B，两者虽同时受到调节力的影响，但杆2长度比杆1长，在调节中起主导作用，呈现杆2的调节力上升、杆1的调节力下降的趋势，同时也出现支撑杆3的支撑力增大、支撑杆4的支撑力下降的趋势，并在121 s处到达峰值C、D，由此可知外固定架的四根杆存在相互作用的情况。 2.2 牵张力分析牵张力为刺激断骨处骨质再生的关键物理量，可反映断骨处的机械力学性能。研究发现，骨只有沿z轴和x轴的正常微位移才有利于骨的愈合，恢复胫骨的正常排列关系，使其符合生物力学轴线[21]。牵张力太大会导致断骨延长区的骨质形成障碍，牵张力太小会导致断骨处提前愈合，不能继续延长[22]。周期性和持续性的牵张力作用于断骨端，能促进新生骨的形成，其在断骨处存在沿x、y、z轴3个方向的分力，力分解方向和坐标变换的传感器坐标系N相同。矫治过程中在断骨端施加的牵张力应该在持续性的基础上，周期性加大的频率和速度也必须是恰当的[23-25]，否则会出现骨质形成不良或提前愈合等并发症[26]。如图6所示，z轴竖直方向受到牵张力的影响，总共10段，每一段为实验过程中的一个调节周期，调节时段发生有规律的变化，中间停留时段传感器读数相对平缓，和实验期望相符。因外固定架铰链为单向铰链，沿杆的调节力传导到x、z轴上的分力，可造成胫骨沿x、z轴位移，而在y轴方向上分力会导致胫骨力线的偏移，不利于骨愈合，因在实验过程安装和调节准确，故在y轴上的分力相对较小，符合医学研究理论。 "

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Transmission efficiency of Ilizarov external fixator orthopedic force based on coordinate transformation theory

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