导航控制颅颌面外科手术机器人系统建立与技术方法创建

发布时间：2019-02-26 13:37

【摘要】：目的：颅颌面外科手术以精确治疗为目标，为了改善传统颅颌面外科手术精度不足的问题，可以通过引入光学导航技术与医用机器人技术，分别解决手术的诊断与定位精度以及术中执行精度的问题。本研究拟通过研究光学导航系统与手术机器人系统整合的关键技术问题，旨在初步建立基于光学导航控制的颅颌面外科手术辅助机器人系统，完成原理样机的制作。方法： 1.符合颅颌面外科手术需求的机械臂本体结构的总体设计； 2.加工制作机械臂本体结构各部件并进行组装； 3.导航控制模式的理论研究：基于现有的颅颌面外科手术导航系统TBNAVIS-CMFS （上海交通大学），研究光学导航系统与自主设计组装的机械臂本体结构整合的关键技术与网络通讯算法，初步完成导航控制模式的理论研究； 4.原理样机的建立：在模拟手术室内建立完成的原理样机系统，，包含三个部分：导航软件平台，导航定位仪，以及机械臂系统； 5.原理样机的试运行：基于患者头颅CT数据制作头颅模型，在导航平台上设计Lefort I型截骨手术方案以及机器人手术操作方案，术中通讯连接导航系统与机器人系统，将导航规划的Lefort I型截骨手术指令发送至机械臂完成操作，术中导航界面截屏，记录手术过程。结果： 1.完成设计组装具有自主知识产权的七自由度手术机器人系统一台； 2.实现TBNAVIS-CMFS导航系统与机器人系统的通讯连接，初步完成导航控制模式的理论研究； 3.在导航控制模式下，机械臂系统能够自动地接收来自导航系统的规划指令，手术过程实时可见，两例头颅模型上均完成规划的Lefort I型截骨操作的试运行，截骨操作过程在导航界面实时可见。 4.初步完成导航控制七自由度颅颌面外科手术机器人系统原理样机一台。结论： 1.对于网络通讯连接与控制算法的研究，能够有效整合光学导航系统与七自由度机械臂本体结构，验证了自主建立导航控制模式颅颌面外科手术辅助机器人系统技术路线的可行性； 2.初步建立完成了导航控制七自由度颅颌面外科手术机器人系统原理样机，为进一步开发试验样机奠定理论基础，具有重要的指导意义；
[Abstract]:Objective: the aim of craniofacial surgery is to treat accurately. In order to improve the accuracy of traditional cranio-maxillofacial surgery, we can introduce optical navigation technology and medical robot technology to improve the accuracy of traditional cranio-maxillofacial surgery. The accuracy of diagnosis and localization and the accuracy of intraoperative execution were solved respectively. The aim of this study is to establish a craniofacial surgery-assisted robot system based on optical navigation control and complete the fabrication of the prototype by studying the key technical problems of the integration of optical navigation system and surgery robot system. Methods: 1. The overall design of the mechanical arm structure which meets the needs of cranio-maxillofacial surgery; 2. Machining and assembling the parts of the main body structure of the mechanical arm; 3. Theoretical study of Navigation Control Mode: based on the existing Navigation system TBNAVIS-CMFS (Shanghai Jiaotong University), The key technology and network communication algorithm of the integration of optical navigation system and self-designed and assembled manipulator are studied, and the theory of navigation control mode is preliminarily completed. 4. The establishment of the principle prototype: the prototype system is built in the simulated operating room, which consists of three parts: navigation software platform, navigation locator, and manipulator system; 5. The trial operation of the prototype: based on the CT data of the patient's head, the skull model was made, the Lefort I osteotomy scheme and the operation scheme of the robot were designed on the navigation platform, and the navigation system and the robot system were connected with each other by means of intraoperative communication. The Lefort I osteotomy instructions of navigation planning were sent to the manipulator to complete the operation. The navigation interface was intercepted during the operation and the operation process was recorded. Results: 1. To complete the design and assembly of a seven-degree-of-freedom surgical robot system with independent intellectual property rights; 2. The communication between TBNAVIS-CMFS navigation system and robot system is realized, and the theoretical research of navigation control mode is completed. In the navigation control mode, the robot arm system can automatically receive the planning instructions from the navigation system, the operation process is real-time visible, and the two skull models have completed the trial operation of the planned Lefort I osteotomy operation. The osteotomy process is real-time visible at the navigation interface. 4. A prototype of navigation-controlled 7-DOF craniofacial surgical robot system was preliminarily completed. Conclusion: 1. The research on the network communication connection and control algorithm can effectively integrate the optical navigation system and the seven-degree-of-freedom manipulator structure. The feasibility of establishing autonomous navigation control mode for craniofacial surgery assisted robot system is verified. 2. The principle prototype of seven-degree-of-freedom cranio-maxillofacial surgical robot system for navigation control has been established preliminarily, which lays a theoretical foundation for the further development of the prototype and has important guiding significance.
【学位授予单位】：上海交通大学
【学位级别】：博士
【学位授予年份】：2014
【分类号】：TP242

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