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骶髂關(guān)節(jié)螺釘手術(shù)導(dǎo)航機(jī)器人系統(tǒng)設(shè)計(jì)及實(shí)驗(yàn)研究 Design and experimental research of a surgical navigation robotic system for sacro-iliac joint screw surgery |
| 作者： 蘇永剛 張維軍 王豫 |
| 單位：北京積水潭醫(yī)院創(chuàng)傷骨科(北京100035) |
| 關(guān)鍵詞： 手術(shù)機(jī)器人；手術(shù)導(dǎo)航；骶髂關(guān)節(jié)；內(nèi)固定 |
| 分類號(hào)： |
| 出版年·卷·期（頁(yè)碼）：2013·32·4（331-335） |
| 摘要： |
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目的 針對(duì)骶髂關(guān)節(jié)螺釘手術(shù)設(shè)計(jì)手術(shù)導(dǎo)航機(jī)器人系統(tǒng)，完成空間定位和路徑導(dǎo)航，開(kāi)展精度測(cè)試實(shí)驗(yàn)，檢測(cè)系統(tǒng)定位的位置誤差和角度誤差。方法 本文開(kāi)發(fā)手術(shù)導(dǎo)航機(jī)器人系統(tǒng)，利用基于透視視覺(jué)的雙平面定位算法完成空間定位，利用串并混聯(lián)結(jié)構(gòu)的機(jī)器人完成路徑導(dǎo)航。使用模型骨和尸體骨共完成模擬手術(shù)實(shí)驗(yàn)16例，通過(guò)術(shù)前規(guī)劃與術(shù)后結(jié)果圖片的重疊來(lái)評(píng)價(jià)手術(shù)導(dǎo)航機(jī)器人的系統(tǒng)精度。結(jié)果 本機(jī)器人系統(tǒng)最終測(cè)得的位置誤差為(1.91±1.15)mm，角度誤差為1.88°±0.915°。結(jié)論 本文開(kāi)發(fā)的手術(shù)導(dǎo)航機(jī)器人可提高手術(shù)精度和手術(shù)安全性，并減少術(shù)中透視的使用。系統(tǒng)的平均誤差能夠滿足骶髂關(guān)節(jié)手術(shù)的要求，但誤差的標(biāo)準(zhǔn)差較大，需在后續(xù)研究中通過(guò)算法和系統(tǒng)優(yōu)化來(lái)改善。 |
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Objective To design a surgical navigation robotic system to fulfill spatial positioning and surgical path navigation for sacro-iliac joint screw surgery. Methods This robotic system used fluoroscopy-based bi-planar method for positioning and the serial-parallel hybrid robot for navigation. Sixteen cases of surgery simulation experiments were carried out，and the accuracy was calculated by overlapping the pre-operative planning images with post-operative result images. Results The position error of this system was (1.91±1.15)mm，while the angular error was 1.88°±0.915°. Conclusions The surgical navigation robotic system improved the accuracy and safety，and effectively reduced the usage of intra-operative fluoroscopy. The mean error satisfied the requirement for sacro-iliac joint screw surgery，yet the standard deviation was relatively large which could be improved by algorithm and system optimization. |
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