| 吴东,南少奎,孔德铭,等.活动平台单髁置换术辅助机器人系统的研发与尸体实验研究.骨科,2026,17(1): 4-8. |
| 活动平台单髁置换术辅助机器人系统的研发与尸体实验研究 |
| Research and development of a robotic-assisted system for mobile-bearing unicompartmental knee arthroplasty and cadaver experimental study |
| 投稿时间：2025-11-20 |
| DOI：10.3969/j.issn.1674-8573.2026.01.002 |
| 中文关键词: 活动平台单髁置换术 机器人辅助 尸体研究 |
| 英文关键词: Mobile bearing unicompartmental knee arthroplasty Robotic-assisted Cadaver research |
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| 中文摘要: |
| 目的 开发并验证一种适用于活动平台单髁膝关节置换术（mobile-bearing unicompartmental knee arthroplasty，mUKA）的机器人辅助系统（YUANHUA-mUKA），评估其在尸体实验中的精准度与可靠性。方法 采用自主研发的YUANHUA-mUKA系统，集成术前三维规划与术中实时导航技术，对3例（4膝）新鲜冰冻尸体标本进行mUKA手术。系统借助CT重建开展术前规划，涵盖假体型号、截骨量及角度等内容；术中采用双目视觉跟踪与机械臂辅助截骨；术后通过去伪影CT测量假体角度，并与术前规划值进行对比分析。结果 所有手术均顺利完成，系统运行稳定。术后假体角度（包括股骨假体外翻角、屈曲角，胫骨假体内翻角、后倾角及旋转角）与术前规划的偏差均在±3°以内。在假体型号匹配方面，除1例胫骨假体相差1号外，其余均与规划一致。结论 YUANHUA-mUKA系统能够辅助术者实现高精度的截骨与假体安置，适用于mUKA手术，具备良好的临床应用前景。 |
| 英文摘要: |
| Objective To develop and validate a robotic-assisted system (YUANHUA-mUKA) for mobile-bearing unicompartmental knee arthroplasty (mUKA) and evaluate its accuracy and reliability in a cadaveric study. Methods The YUANHUA-mUKA system, which integrates preoperative 3D planning and real-time intraoperative navigation, was used to perform mUKA on 3 cadaveric specimens (4 knees). Preoperative planning based on CT reconstruction included implant size, bone resection volume, and alignment. Intraoperatively, a binocular vision tracking system and a freedom robotic arm assisted in precise bone cutting. Postoperative implant alignment was measured using artifact-reduced CT and compared with preoperative plans. Results All procedures were completed successfully with stable system performance. The deviations between postoperative and planned implant angles (including femoral valgus and flexion, tibial varus, posterior slope and rotation) were within ±3°. Implant size matching was consistent with the plan in all cases except for one tibial component that differed by one size. Conclusion The YUANHUA-mUKA system enables highly accurate bone resection and implant placement for mUKA, demonstrating potential for clinical application. |
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