脊柱手术机器人磨削过程状态感知与安全控制
发布时间：2018-08-13 21:01
【摘要】：作为骨科的一个分支,脊柱外科是一门具有高技术、高风险的学科。手术中医生需要在狭小的空间完成复杂的动作,难免会因为疲劳或视野不足等原因增大手术风险,严重时导致手术失败。机器人以其高定位精度、高稳定性等特点,改善传统手术模式,辅助医生完成手术操作。就椎板磨削而言,目前使用机器人辅助医生完成椎板磨削手术的相关研究比较少,且很多关键技术仍然处于研究阶段,亟需进一步探讨。所以本文将以椎板磨削为研究背景,对脊柱手术机器人系统的相关技术领域进行研究,包括导航注册算法及自动注册的研究、基于电流的状态感知及变速磨削、基于虚拟夹具的磨削控制及椎板磨削实验。本文将对注册算法展开研究,针对已有算法精度低、计算量大等缺点,提出一种新的注册算法Tetrahedral Framework registration algorithm(简称TF),该算法使用三点配准,多点优化,过程简单易懂、计算量小,并最终实现高精度配准。为了实现高效配准,本文将推出一款基于标记点的自动注册器,实现导航系统自动注册。为了模拟医生手感,对机器人的状态感知进行了研究,并以电流信号为基础,通过小波去噪、变化率阈值去突变、归一化等处理,完成了骨组织的状态识别,从而实现机器人的状态感知。本文将基于状态感知对变速磨削进行探讨,当没有接触到骨头的时候提高进给速度,当接触到骨头的时候减慢进给速度,并认为变速磨削方式可以实现安全高效磨削。为实现对机器人磨削路径的精确引导,本文将提出引入导纳因子的引导型虚拟夹具和基于位置补偿的阻尼型虚拟夹具,实现曲线跟踪和阻止机器人进入特定区域的任务。最后本文将融合机器人导航系统、状态感知和运动约束等技术实现安全高效的椎板磨削实验。
[Abstract]:As a branch of orthopaedics, spinal surgery is a high-tech, high-risk discipline. Doctors need to complete complex operations in a narrow space, which inevitably increase the risk of surgery because of fatigue or lack of visual field, and lead to the failure of surgery. With its high positioning accuracy and high stability, the robot improves the traditional operation mode and assists the doctor to complete the operation. As far as laminar grinding is concerned, there are few researches on using robot assisted doctors to complete laminar grinding, and many key technologies are still in the research stage, which need to be further explored. Therefore, this paper will study the related technical fields of spinal surgery robot system, including navigation registration algorithm and automatic registration, current based state perception and variable speed grinding, based on laminar grinding as the research background. Grinding control based on virtual fixture and experiment of laminar grinding. In this paper, we will study the registration algorithm. Aiming at the shortcomings of the existing algorithms, such as low precision and large computation, a new registration algorithm, Tetrahedral Framework registration algorithm (, is proposed. The algorithm uses three points registration, multi-point optimization, simple process and little computation. And finally achieve high precision registration. In order to achieve efficient registration, this paper presents an automatic register based on marking points, which can automatically register navigation system. In order to simulate the doctor's sense of hand, the state perception of the robot is studied. Based on the current signal, the state recognition of bone tissue is accomplished by wavelet denoising, threshold de-mutation of change rate, normalization and so on. In order to realize the state perception of the robot. In this paper, the variable speed grinding is discussed based on state perception. The feed speed is increased when there is no contact with the bone and the feed speed is slowed down when the bone is in contact with the bone. It is considered that the variable speed grinding method can realize the safe and efficient grinding. In order to guide the grinding path of robot accurately, a guided virtual fixture with admittance factor and a damping virtual fixture based on position compensation are proposed to track curves and prevent robot from entering a specific area. Finally, the fusion of robot navigation system, state perception and motion constraints are used to achieve a safe and efficient laminar grinding experiment.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
本文编号：2182176
[Abstract]:As a branch of orthopaedics, spinal surgery is a high-tech, high-risk discipline. Doctors need to complete complex operations in a narrow space, which inevitably increase the risk of surgery because of fatigue or lack of visual field, and lead to the failure of surgery. With its high positioning accuracy and high stability, the robot improves the traditional operation mode and assists the doctor to complete the operation. As far as laminar grinding is concerned, there are few researches on using robot assisted doctors to complete laminar grinding, and many key technologies are still in the research stage, which need to be further explored. Therefore, this paper will study the related technical fields of spinal surgery robot system, including navigation registration algorithm and automatic registration, current based state perception and variable speed grinding, based on laminar grinding as the research background. Grinding control based on virtual fixture and experiment of laminar grinding. In this paper, we will study the registration algorithm. Aiming at the shortcomings of the existing algorithms, such as low precision and large computation, a new registration algorithm, Tetrahedral Framework registration algorithm (, is proposed. The algorithm uses three points registration, multi-point optimization, simple process and little computation. And finally achieve high precision registration. In order to achieve efficient registration, this paper presents an automatic register based on marking points, which can automatically register navigation system. In order to simulate the doctor's sense of hand, the state perception of the robot is studied. Based on the current signal, the state recognition of bone tissue is accomplished by wavelet denoising, threshold de-mutation of change rate, normalization and so on. In order to realize the state perception of the robot. In this paper, the variable speed grinding is discussed based on state perception. The feed speed is increased when there is no contact with the bone and the feed speed is slowed down when the bone is in contact with the bone. It is considered that the variable speed grinding method can realize the safe and efficient grinding. In order to guide the grinding path of robot accurately, a guided virtual fixture with admittance factor and a damping virtual fixture based on position compensation are proposed to track curves and prevent robot from entering a specific area. Finally, the fusion of robot navigation system, state perception and motion constraints are used to achieve a safe and efficient laminar grinding experiment.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
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