脊柱手术机器人  

Spine surgery robot

作　　者：郑小丽[1,2] 杨唐胜[1] 靳海洋[2] 王立盛[2] 

机构地区：[1]湖南大学电气与信息工程学院,长沙410082 [2]中国科学院深圳先进技术研究院,广东深圳518055

出　　处：《计算机工程与应用》2014年第14期265-270,共6页Computer Engineering and Applications

基　　金：国家自然科学基金(No.61175124);广东省引进创新科研团队项目(No.201001D0104648280)

摘　　要：针对脊柱手术中的椎弓根钉内固定术,为克服医生操作手术时定位精度难以保证、长时间手术易疲劳等问题,设计了一套脊柱手术机器人系统用于辅助实施椎弓根钉内固定术。机器人为5自由度,充分考虑手术机器人对安全性和工作空间有效覆盖的要求,进行了构型设计,并完成了相应的机器人运动学分析。控制系统是由图像导航下的主动控制和基于力传感器的被动拖拽控制两个模式进行控制。主动控制下,医生通过导航系统提供最优钉道的精确位置信息,机器人根据医生的规划路径自主到达手术点;被动力拖拽控制基于导纳控制原理对医生作用在机器人末端执行器的操作力进行映射,并以此形成跟随拖动动作的机器人运动控制指令。针对力拖拽控制的实验验证了机器人在被动拖拽控制模式下能够柔顺地跟踪医生的操作动作。In the vertebral pedicle screw fixation surgery, to overcome the low positioning accuracy of manual operation and the fatigue during long time surgery, a spine surgery robot system used to assist the surgeons in the vertebral pedicle screw fixation surgery is performed. The robot has a configuration of five Degrees of freedom（Dofs）. It is designed with full account of surgical safety and the effective coverage of operation space. Also, its kinematics is completely analyzed. The control system of the robot includes the active control mode based on the image navigation, and passive control mode based on a 6 Dofs force/torque sensor. In the active control mode, the doctor plans optimized location information for the screw path through the navigation system, and then the robot automatically locates the surgical point according to the planned path;passive control mode is based on admittance control principle, which maps the drag force acting on the end-effector to the motion of the robot. So that the robot moves following the drag action. The force drag control experiments verify the effectiveness of the passive control mode.

关 键 词：脊柱手术 导纳控制 图像导航 手术机器人 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]