机器人系统在腓骨修复下颌骨重建中的动物试验研究  

Research on Animal Experiments of Robotic System in Mandibular Reconstruction with Fibular

作　　者：王兴涛 刘才华 吕玉祥 靳乐 刘筱菁[4] WANG Xingtao;LIU Caihua;LV Yuxiang;JIN Le;LIU Xiaojing(Academy of Information and Communication Research, State Grid Information & Telecommunication Group Co., Ltd., Beijing 102211, China;Anhui Jiyuan Software Co., Ltd., Hefei 230088, China;Drum Tower Outpatient Department, Eastern Part of Beijing Medical District, Chinese PLA Hospital, Beijing 100720, China;Peking University School and Hospital of Stomatology, Beijing 100081, China.)

机构地区：[1]国网信息通信产业集团信通研究院,北京102211 [2]安徽继远软件有限公司,安徽合肥230088 [3]解放军总医院京东医疗区鼓楼门诊部口腔科,北京100720 [4]北京大学口腔医学院口腔医院,北京100081

出　　处：《口腔医学研究》2020年第11期1040-1044,共5页Journal of Oral Science Research

基　　金：国家863计划重点项目(编号:2009AA045201)。

摘　　要：目的:当前腓骨修复下颌骨重建手术中医生徒手操作精度差,治疗效果不理想,本文通过机器人系统辅助下颌骨重建手术动物试验,评价机器人辅助手术效果。方法:以山羊作为试验对象,分别进行机器人系统辅助手术、计算机导航辅助手术以及人工操作手术,计算每组试验术后和术前之间的平均差异值,对比分析3组试验结果,验证机器人辅助手术效果。结果:机器人在手术过程中运行稳定可靠,手术精度优于其他试验,能够满足下颌骨重建手术的要求。结论:该机器人系统可在下颌骨重建手术中辅助医生实现游离骨块的精确定位与稳固把持,提高操作精度和手术质量。Objective:To evaluate the effect of robot-assisted surgery through animal experiments of robotic system assisted mandibular reconstruction surgery.Methods:The animal experiments were conducted using the goat as the experimental subjects,including robotic system assisted surgery,computer navigation assisted surgery,and manual operation surgery.The mean error value between postoperative and preoperative models was calculated.The results of three experiments were compared and analyzed to verify the effectiveness of robot-assisted surgery.Results:The robotic system run stably and reliably during the surgery,and the postoperative accuracy was better than other experiments,which met the needs of mandibular reconstruction surgery.Conclusion:In the mandibular reconstruction surgery,the robotic system can assist surgeons to accurately position and stably hold the free bones to improve the operating precision and surgical quality.

关 键 词：下颌骨重建 腓骨瓣 多臂机器人 手术导航 动物试验 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]