手术制孔机器人研究进展  

Research Advances in Surgical Drilling Robot

作　　者：余淑荣[1] 王志文 张来喜 吴明亮[1] YU Shu-rong;WANG Zhi-wen;ZHANG Lai-xi;WU Ming-liang(School of Mechanic and Electronic Engineering, Lanzhou University of Technology, Lanzhou 730050, China)

机构地区：[1]兰州理工大学机电工程学院,兰州730050

出　　处：《科学技术与工程》2021年第15期6105-6113,共9页Science Technology and Engineering

基　　金：国家自然科学基金(51765031)。

摘　　要：传统手术制孔是由医生操作辅助制孔装置,对医生的专业技能与经验积累有很高的要求,同时制孔精度与手术安全性不高。自动制孔技术可以保证手术制孔的安全与精度,缩短手术时间。骨骼制孔过程中,骨骼与钻头的连续摩擦会引起热积累,当温度超过临界值时会导致骨骼发生热坏死。如果钻头超过预设深度就会对骨头周围血管、肌肉及神经造成严重损伤。热积累控制和突破控制研究是保证手术制孔机器人安全操作的关键。研究表明,骨骼发生热坏死的临界温度为47℃,旋转超声骨骼制孔结合金刚石磨粒刀具的方式可以将制孔温度控制在40℃。骨骼制孔突破控制主要通过力/力矩、位置、声发射功率谱检测和神经网络分类等方法实现,其中通过力/力矩检测实现突破控制的效果最佳。在骨骼制孔过程中,还会产生钻削振动,因此对手术制孔机器人常用的振动控制方式进行了分析研究,并总结了其他有待进一步解决的问题并展望了未来的研究方向。The traditional surgical drilling is achieved by doctors with an auxiliary device,which requires doctors’high professional skills and experience,and the precision and safety of the drilling is hard to ensure.However,the safety and precision of surgical drilling can be achieved by robotic drilling technology,and the operation time will be shortened as well.In process of bone drilling,heat accumulation is caused due to continuous friction between the bone and drill bit,which will lead to bone thermal necrosis when the temperature exceeds the critical value.Serious injury of blood vessels,muscles and nerves around the bone will be caused by drilling bit surpassing the preset depth.The research of heat accumulation control and breakthrough control is the key to safe operation of surgical drilling robot.Research results reveal that the critical temperature of bone thermal necrosis is 47℃,and the drilling temperature can be controlled at 40℃by the method of rotating ultrasonic bone drilling combined with diamond abrasive tool.The breakthrough control of bone drilling is mainly realized by detection of force/torque,position and acoustic emission power spectrum and neural network classification,and the performance of force/torque detection is best among them.The drilling vibration is occurred in surgical drilling,the common vibration control approaches were analyzed also.Finally,some unsolved issues are summarized and the future research direction is prospected.

关 键 词：手术制孔机器人 热积累控制 骨组织突破检测 振动控制 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]