北京生物醫(yī)學(xué)工程

天璣骨科手術(shù)機器人高精度工作區(qū)域研究

The high precision working area of Tianji orthopaedic robotic system

作者：范明星施嶄張琦王令瓏房彥名田偉

單位：北京積水潭醫(yī)院脊柱外科（北京 100035） 首都醫(yī)科大學(xué)燕京醫(yī)學(xué)院（北京 101300） 通信作者：田偉。E-mail：[email protected]

關(guān)鍵詞：骨科手術(shù)機器人；機器人輔助手術(shù)；精度；光學(xué)導(dǎo)航；工作區(qū)域

分類號：R318.04 

出版年·卷·期（頁碼）：2022·41·3（266-270）

摘要：

目的研究天璣骨科手術(shù)機器人的高精度工作區(qū)域，提高機器人輔助手術(shù)精度。方法設(shè)置天璣骨科手術(shù)機器人的光學(xué)導(dǎo)航系統(tǒng)位置，使其與精度測試模型所處實驗平面垂直距離保持為1.5m，以精度測試模型所處位置為工作區(qū)域中心O，建立以O(shè)點為原點的平面直角坐標系，在平面內(nèi)緩慢移動精度測試模型，當(dāng)其剛好不能被光學(xué)導(dǎo)航系統(tǒng)追蹤時記為到達工作區(qū)域邊界，記錄邊界范圍。使用三坐標測量儀測量原點O與邊界間不同位置點的機器人定位精度，并比較不同位置點間的精度差異。結(jié)果天璣骨科手術(shù)機器人在光學(xué)導(dǎo)航系統(tǒng)距離手術(shù)區(qū)域1.5 m時的工作區(qū)域為長1263 mm、寬878 mm的長方形。機器人在各象限中心點間的定位精度無統(tǒng)計學(xué)差異（P=0.13），但定位精度距離視野中心距離增加將導(dǎo)致定位精度降低（H=103.39，P<0.001），箱式圖對比分析發(fā)現(xiàn)當(dāng)操作距離距離視野中心距離大于400 mm時精度顯著變差。結(jié)論天璣骨科手術(shù)機器人的工作區(qū)域為長方形，應(yīng)盡量保持手術(shù)區(qū)域位于視野中心400 mm范圍內(nèi)，從而獲得更穩(wěn)定的手術(shù)精度。

Objective To explore the high precision working area of TianJi orthopaedic robotic system and improve the accuracy of robot assisted surgery. Methods We set the position of the optical navigation system of the orthopaedic robot to keep vertical distance from experimental plane where the precision testing model was located at 1.5 m. We marked the position of the precision testing model as point O, which was the center of the work area, and establish a plane rectangular coordinate system. Move the precision testing model in the plane, record the boundary of the working area and mark the boundary points. A three-coordinate measuring instrument was used to measure the accuracy of orthopaedic surgery robotic system at different measuring points in the working area and the accuracy was compared. Results The working area was a rectangular area with the length of 1263 mm and the width of 878 mm at 1.5 m away from the optical navigation system. There was no statistical difference in the accuracy of the orthopaedic robotic system among the center points of each quadrant (P=0.13), however, the accuracy was decreased with the increasing of distance away from the center point of the working area (H=103.39，P<0.001). Comparative analysis of box diagram showed that the accuracy were worse at 400mm away from the center point of the working area. Conclusions The working area of the Tianji orthopaedic surgical robot system is a rectangular area. To obtain more stable accuracy, more attention should be paid to keep the operation area within 400mm of the working area.

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