基于机械臂的颈椎前路手术机器人系统  

Anterior Cervical Surgical Robot System Based on Mechanical Arm

作　　者：张铭杰 叶震 史建刚[2] 吴炳坚 吕燕[1] 孙璟川[2] Zhang Mingjie;Ye Zhen;Shi Jian’gang

机构地区：[1]上海电气集团股份有限公司中央研究院,上海200070 [2]上海长征医院,上海200003

出　　处：《机械制造》2021年第2期41-44,70,共5页Machinery

摘　　要：为解决医师手工开展颈椎前路手术的临床痛点,基于机械臂设计了颈椎前路手术机器人系统。在设计中,完成了颈椎术中定位匹配系统,推导了磨钻工具与机械臂、光学导航的标定,并应用了基于六维力传感器的机械臂柔顺控制技术。通过对颈椎全段模型骨进行磨钻试验,确认颈椎前路手术机器人系统的手术精度达到要求,可应用于临床手术,具有良好的市场前景。To solve the clinical pain spots of the doctor when performing anterior cervical surgery manually,an anterior cervical surgery robot system was designed based on the mechanical arm.In the design,the positioning and matching system in neck vertebrae surgery was completed,the calibration of the abrasive drilling tool and the mechanical arm&optical navigation were deduced,and the mechanical arm compliance control technology based on the 6 DOF force sensor was applied.Through the abrasive drilling test of the whole neck vertebrae model bone,it is confirmed that the surgical accuracy of the anterior cervical surgical robot system meets the requirements and it can be applied to clinical surgery,and has a favorable market prospect.

关 键 词：机械臂 机器人 颈椎 手术 

分 类 号：TH6[机械工程—机械制造及自动化] TP242.3[自动化与计算机技术—检测技术与自动化装置]