天玑手术机器人运动失控故障维修4例  

Treatment of uncontrolled motion faults of TiRobot surgery robot:Four case reports

作　　者：高冉 郭大为 王振威 郭炜[4] 刘东岩 GAO Ran;GUO Da-wei;WANG Zhen-wei;GUO Wei;LIU Dong-yan(Central Sterile Supply Department,Beijing Shijitan Hospital of Capital Medical University,Beijing 100038,China;Department of Clinical Engineering,Beijing Shijitan Hospital of Capital Medical University,Beijing 100038,China;Articulation Department,Beijing Shijitan Hospital of Capital Medical University,Beijing 100038,China;Operation Room,Beijing Shijitan Hospital of Capital Medical University,Beijing 100038,China)

机构地区：[1]首都医科大学附属北京世纪坛医院供应室,北京100038 [2]首都医科大学附属北京世纪坛医院医学工程处,北京100038 [3]首都医科大学附属北京世纪坛医院关节外科,北京100038 [4]首都医科大学附属北京世纪坛医院手术室,北京100038

出　　处：《医疗卫生装备》2024年第11期117-120,共4页Chinese Medical Equipment Journal

摘　　要：介绍了天玑手术机器人的组成和工作原理,分析了主控台车图像配准失败、导航定位器械精度超标、机械臂位置偏移、光学跟踪系统初始化失败4例天玑手术机器人运动失控故障的现象、原因并提出了具体的排除方法,为医学工程师维修类似故障提供了参考。The composition and working principle of TiRobot surgery robot were introduced.Four cases of uncontrolled motion faults of the robot in image alignment of the main control trolley,precision of the navigation and positioning instruments,positional offset of the robotic arm and initialization of the optical tracking system were explored in terms of phenomenon,cause and treatment.References were provided for medical engineers to treat similar faults.

关 键 词：天玑手术机器人 运动失控 故障维修 

分 类 号：R318.6[医药卫生—生物医学工程] TH777[医药卫生—基础医学]