基于3D打印配准模板的脊柱机器人系统在椎板切除中的应用  

Application of a novel spinal robot system based on 3D-printing registration template in laminectomy

作　　者：李卓夫 宋雄康 季旭全 刘杉杉 姜帅[1,2,3] 王承夏 胡磊[4] 李危石 Li Zhuofu;Song Xiongkang;Ji Xuquan;Liu Shanshan;Jiang Shuai;Wang Chengxia;Hu Lei;Li Weishi(Department of Orthopedics,Peking University Third Hospital,Beijing,100191;Beijing Key Laboratory of Spinal Disease Research,Beijing,100191;Engineering Research Center of Bone and Joint Precision Medicine,Ministry of Education,Beijing,100191;School of MechanicalEngineeringandAutomation,BeihangUniversity,Beijing,100191,China)

机构地区：[1]北京大学第三医院骨科,北京100191 [2]脊柱疾病研究北京市重点实验室,北京100191 [3]骨与关节精准医学教育部工程研究中心,北京100191 [4]北京航空航天大学机械工程及自动化学院,北京100191

出　　处：《生物骨科材料与临床研究》2022年第2期11-13,25,共4页Orthopaedic Biomechanics Materials and Clinical Study

摘　　要：目的采用一款新型的脊柱机器人系统进行椎板切除操作,评估该系统的准确性。方法取10例羊腰椎标本,对每个标本的椎板两侧进行共20次椎板切削操作。记录每次切削操作的时间,并对术后CT数据呈现的椎板切割轨迹与手术前规划的切割轨迹进行对比分析。结果一共进行了212次垂直切削,平均每侧的椎板切削需要10.6次垂直切削来完成。单侧椎板切除的平均时间为(172.55±33.23)s。规划切割面和实际切割面在起始点的距离为(0.99±0.46)mm,在终止点的距离为(0.85±0.55)mm,切割的准确度符合预期。结论基于3D打印配准模板的脊柱机器人系统进行椎板切除操作的精度基本满足临床要求,但仍需进一步的实验来验证。Objective To evaluate the accuracy of a new spinal robotic system for laminectomy.Methods A total of 20 laminectomy were performed on both sides of 10 caprine lumbar vertebral specimens.The time of laminectomy was recorded.The accuracy of lamina decompression range was analyzed by comparing preoperative planning and postoperative CT data.Results A total of 212 vertical cuts were performed,with an average of 10.6 vertical cuts required for each side of laminectomy.The mean time of one-side laminectomy was(172.55±33.23)s.The distance between the planned cutting surface and the actual cutting surface was(0.99±0.46)mm at the starting point,and was(0.85±0.55)mm at the end point.Conclusion The accuracy of the spinal robot system based on the 3D printed registration template for laminectomy basically meets the clinical requirements,but further experiments are still needed to verify.

关 键 词：手术机器人 椎板切除机器人 3D打印 状态识别 超声骨动力系统 

分 类 号：R318[医药卫生—生物医学工程]