机器人辅助脊柱手术三维定位导航  

Robot-assisted three-dimensional positioning and navigation in spinal surgery

作　　者：张峰峰[1,2] 陈龙 杨诗怡 于凌涛 干旻峰[4] 詹蔚[4] 孙立宁[1,2] ZHANG Fengfeng;CHEN Long;YANG Shiyi;YU Lingtao;GAN Minfeng;ZHAN Wei;SUN Lining(School of Mechanical and Electric Engineering, Soochow University, Suzhou 215006, China;Collaborative Innovation Center of Suzhou Nano Science and Technology, Soochow University, Suzhou 215123, China;School of Mechanical and Electric Engineering, Harbin Engineering University, Harbin 150001, China;The First Affiliated Hospital of Soochow University, Suzhou 215000, China)

机构地区：[1]苏州大学机电工程学院,江苏苏州215006 [2]苏州大学苏州纳米科技协同创新中心,江苏苏州215123 [3]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001 [4]苏州大学附属第一医院,江苏苏州215000

出　　处：《哈尔滨工程大学学报》2020年第12期1735-1741,共7页Journal of Harbin Engineering University

基　　金：国家重点研发计划(2018YFB1307700).

摘　　要：针对传统脊柱手术过程中医生无法精确定位病灶点及术中辐射过量的问题,本文提出了利用结构光图像与术前CT图像进行配准的方法,并开发了机器人辅助脊柱手术导航系统。通过术前在脊柱的三维重建模型上规划手术路径,对三维导航系统的坐标转换原理及各软件模块的分析,最终使机器人在术中按照规定的手术路径进行病灶点的定位和穿刺。通过脊柱穿刺导航定位位置实验和姿态实验,得到该导航系统的定位位置的误差值为3.34±0.12 mm,导航姿态的误差值为3.1±0.89°。本文所提出的三维导航系统的精度基本能够满足脊柱穿刺手术的需求。To solve the problem that doctors cannot accurately locate lesions and identify intraoperative radiation overdose during traditional spinal surgery,a new method is proposed to register computed tomography images before the operation with structured light images and solve intraoperative radiation overdose.On this basis,a new method for the robot-assisted spinal surgery navigation system is developed to help doctors accurately locate lesions.The surgical route is planned preoperatively on a three-dimensional(3D)reconstruction model of the spine.The coordinate conversion principle and software modules of the 3D navigation system are analyzed,and the surgical path is planned on the 3D reconstruction model of the spine so that the robot can locate and puncture the lesion points according to the specified surgical path.Through the position and attitude experiments by navigation and positioning,the results show that the error value of positioning of the navigation system is 3.34±0.12 mm and the error value of the navigation attitude is 3.1±0.89°.The accuracy of the 3D navigation system can meet the needs of spinal surgery.

关 键 词：路径规划 脊柱手术 定位导航 机器人 精度 配准 位姿 结构光 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]