基于力反馈的脊柱外科机器人系统的设计与实现  

Design and Implementation of a Spine Robot System Based on Force Feedback

作　　者：王田苗[1] 张家磊[1] 刘忠军[2] 胡磊[1] 栾胜[1] 

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100083 [2]北京大学第三医院,北京100083

出　　处：《机器人》2007年第5期463-468,共6页Robot

基　　金：北京市科技计划资助项目(H060720050230);国家杰出青年科学基金资助项目(60525314)

摘　　要：针对脊柱椎管狭窄症减压手术中椎管壁磨削不安全这一问题,介绍了一种基于力反馈控制策略的脊柱外科机器人系统.该系统包括监控磨削过程的检测子系统、完成磨削手术操作的运动驱动子系统和再现磨削信息状况的控制显示子系统.利用脊柱磨削手术过程中磨削力的变化特点,提出了基于力反馈的脊柱外科机器人控制策略,辅助医生实现安全的脊柱手术操作.最后,通过仿真实验和模拟骨磨削实验,验证了基于力反馈控制策略的脊柱外科机器人系统的可行性.Aiming at solving the unsafety problem of milling vertebra wall in spine stenosis surgery, a spine robot system based on force feedback control strategy is introduced. The robot control system is composed of a detection and measurement subsystem to monitor the milling process, a motion and driving subsystem to execute the milling operation, and a control and display subsystem to render the milling information. On the basis of force features during the milling process of the spine vertebra wall, a robot control strategy based on force feedback is presented to assist doctors to operate safely in spine surgery. The simulation and milling experiments with simulated bones prove the feasibility of the spine robot based on force feedback control strategy.

关 键 词：机器人 力反馈 控制策略 脊柱外科 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]