计算机辅助骨科手术机器人技术发展及应用综述  

Review on the Development and Application of Computer Assisted Orthopedic Surgery Robots

作　　者：张新星[1] 赵英杰 陈超 ZHANG Xinxing;ZHAO Yingjie;CHEN Chao(School of Mechanical and Electrical Engineering,Quzhou College of Technical,Quzhou 324000,China)

机构地区：[1]衢州职业技术学院机电工程学院,浙江衢州324000

出　　处：《计算机测量与控制》2022年第4期1-7,13,共8页Computer Measurement &Control

基　　金：2021年浙江省教育厅一般科研项目(Y202148015);2020年衢州市科技计划竞争性项目(2020K03)。

摘　　要：肌肉骨骼系统在人体运动中起着至关重要的作用,这个系统的疾病通常会导致严重的长期残疾,是影响人类健康和活动能力的关键因素;计算机辅助骨科手术机器人系统已成为临床骨科中最重要和最具挑战性的系统之一,因为它们能够使用现代临床导航系统和机器人系统精确治疗肌肉骨骼疾病,具有有效降低辐射、减少医生体力等优势,成为解决传统骨科疾病的最佳选择之一;通过对机器人在骨科手术中的应用分析,重点介绍了骨科机器人的机构设计、导航技术、机器人控制、交互技术以及骨-机器人连接技术;在导航技术中,利用CT扫描设备获取图像和光学跟踪装置进行导航已成为主流;在机器人控制和交互技术中,既有遥操作,也有自动控制;借助文献梳理,进一步讨论了目前计算机辅助骨科手术机器人系统存在的问题及其未来发展。The musculoskeletal system plays a crucial role in human movement,diseases of the system often lead to the severe long-term disability and are the key factors affecting the human health and mobility.Computer assisted orthopaedic surgery robot system has become the most important in clinical orthopaedics and one of the most challenging systems,because they can use the modern clinical navigation system and the robot system accurate treatment of musculoskeletal disease,can effectively reduce the radiation,decrease the advantages of doctor physical,It has become one of the best choices to solve the traditional orthopedic diseases.Through analyzing the application of robot in orthopedic surgery,the mechanism design,navigation technology,robot control,interaction technology and bone-robot connection technology of orthopedic robot are introduced emphatically.In navigation technology,CT scanning equipment is used to obtain the images and optical tracking devices for navigation,which has become the mainstream.In robot control and interaction technology,there are both the teleoperation and the automatic control.With the help of literature review,the existing problems and future developments of the computer-assisted orthopedic surgery robot system are further discussed.

关 键 词：计算机辅助 骨科手术 机器人技术 导航系统 图像配准 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]