膝关节置换手术中的机器人切骨系统研究与开发

发布时间：2018-11-03 18:37

【摘要】：20世纪以来,医学技术和医疗设备的不断升级让医疗外科取得巨大的进步。医疗外科的改革也不断的被提上了日程,机器人辅助手术系统在临床医疗中的使用越来越普遍,例如全膝关节置换手术、全髋关节置换等辅助手术机器人系统。但是像ROBODOC、CASPAR、ACROBOT等骨科手术机器人系统,由于售价十分高昂导致其在中国和其他发展中国家还未能得到推广和普及。所以有必要开展膝关节置换手术中切骨系统的研究与开发,旨在提高国内骨科手术机器人研究水平。通过对膝关节置换机器人系统的调研得知其应具备以下功能:手术机器人及其实体控制;基于CT图像的三维模型重建;基于视觉的定位导航。本课题的研究目标就在于研究和开发一套机器人辅助全膝关节置换手术中的切骨系统,其主要包括以下方面:首先,机器人辅助切骨系统构建:1)膝关节置换手术中重要的概念进行详细说明,例如胫骨平台、股骨干线、下肢力线、膝关节假体等;2)对传统人工的膝关节置换手术的股骨切骨和胫骨切骨部分进行了简要介绍,主要目的在于方便后续章节的展开;3)针对膝关节置换手术中机器人切骨系统的硬件进行选取,主要包括切骨机器人本体、深度视觉传感器、机器人末端切骨执行器的选取;4)针对膝关节置换手术中机器人切骨系统的软件控制系统功能模块进行分析并加以实现。其次,对切骨标定的方法和技术展开详细分析:1)提出Xtion相机的内参标定和Xtion相机坐标系到机器人基座标系手眼标定的具体方法;2)完成股骨、胫骨关键点视觉定位工具的结构设计;3)对标志板和探针标记点的三维坐标提取算法做了详细介绍和实现;4)利用视觉定位工具和视觉系统完成建立股骨和胫骨坐标系,并对股骨和胫骨的标定进行详细分析和推导;5)对切骨标定方法进行了精度误差分析。然后,对操作臂切骨运动规划和实现进行分析:1)在对UR5机器人进行正逆运动学分析和推导;2)利用探针提取股骨、胫骨关键特征点完成股骨和胫骨的建模,从而选取对应的假体,最后结合假体的关键尺寸来生成对应的切骨面;3)根据生成的切骨面并结合不同切骨面的切骨方式完成各切骨面的轨迹规划。最后,利用机器人切骨系统完成模型骨切骨实验:1)ROS平台下完成切骨动作的仿真实验;2)利用机器人切骨系统完成模型骨切骨实验;3)切骨下肢力线的重建效果的检验和机器人切骨系统评估。本文通过全膝关节置换手术机器人切骨系统进行了全面的介绍,以及完成对模型骨切骨实验,充分验证了全膝关节置换手术机器人切骨系统的可行性,主要包括股骨胫骨标定方法的可行性,标志点实时跟踪和定位算法的可行性,操作臂运动规划的可行性,以及最终恢复患者下肢力线的可行性。
[Abstract]:Since the 20 th century, medical surgery has made great progress due to the continuous upgrading of medical technology and medical equipment. The reform of medical surgery has been constantly put on the agenda, the use of robot-assisted surgery system in clinical medicine is becoming more and more common, such as total knee arthroplasty, total hip replacement and other assisted surgery robot systems. But orthopedic robotic systems, such as ROBODOC,CASPAR,ACROBOT, have not been popularized in China and other developing countries because of their high prices. Therefore, it is necessary to develop the osteotomy system in knee arthroplasty in order to improve the research level of orthopedic robot in China. Through the investigation of knee replacement robot system, we know that it should have the following functions: operation robot and its entity control; 3D model reconstruction based on CT image; location and navigation based on vision. The research goal of this project is to study and develop a set of osteotomy system in robot assisted total knee arthroplasty, which mainly includes the following aspects: first of all, Robot assisted osteotomy system construction: 1) the important concepts of knee arthroplasty are described in detail, such as tibial plateau, femoral trunk, lower limb force line, knee prosthesis and so on; 2) A brief introduction was made to the femur and tibial osteotomy of the traditional artificial knee arthroplasty, the main purpose of which was to facilitate the development of the subsequent chapters; 3) selecting the hardware of the robot osteotomy system in knee arthroplasty, including the body of the robot, the depth vision sensor, and the end cutting actuator of the robot; 4) the function module of software control system of robot bone cutting system in knee arthroplasty is analyzed and realized. Secondly, the methods and techniques of bone cutting calibration are analyzed in detail: 1) the inner parameter calibration of Xtion camera and the method of hand-eye calibration from Xtion camera coordinate system to robot pedestal marking system are presented. 2) complete the structure design of the visual positioning tool for the key points of femur and tibia, 3) introduce and implement the 3D coordinate extraction algorithm of marker board and probe mark point in detail; 4) the coordinate system of femur and tibia is established by using visual positioning tools and visual system, and the calibration of femur and tibia is analyzed and deduced in detail. Then, the motion planning and realization of the operation arm osteotomy are analyzed: 1) the forward and inverse kinematics analysis and derivation of the UR5 robot are carried out; 2) using the probe to extract the femur, the key characteristic points of the tibia were used to complete the modeling of the femur and tibia, then the corresponding prosthesis was selected, and the corresponding osteotomy surface was generated by combining the key dimensions of the prosthesis. 3) the trajectory planning of each osteotomy plane is completed according to the generated osteotomy surface and the different osteotomy methods. Finally, the robot osteotomy system is used to complete the model osteotomy experiment: 1) under the ROS platform, 2) the robot osteotomy system is used to complete the model bone cutting experiment. 3) the effect of the reconstruction of the force line of the lower limb and the evaluation of the robot bone cutting system. In this paper, the osteotomy system of total knee arthroplasty robot is introduced comprehensively, and the experiment of model osteotomy is completed, which fully verifies the feasibility of the osteotomy system of total knee arthroplasty robot. It mainly includes the feasibility of tibial calibration method, the feasibility of real-time tracking and positioning algorithm of marker points, the feasibility of motion planning of manipulating arm, and the feasibility of recovering the force line of lower extremity of the patient.
【学位授予单位】：广东工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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