六自由度机器人在骨科手术中的应用研究
发布时间：2018-10-29 19:06
【摘要】：随着计算机技术的快速发展,21世纪的医学也已进入了数字时代。数字骨科学是一门结合了传统的骨科学与计算机技术的交叉学科,与之相关的研究也是近年来数字医学研究的热点领域,骨科手术机器人便是其中之一。传统的骨科手术里,手术方案的形成主要是通过医生在大脑中模拟手术,实施手术时也需依靠医生的对手术方案的主观印象。由于骨科手术通常涉及非常复杂的几何结构变化,要在大脑中清晰的想象出术中骨骼形态的几何和拓扑结构的复杂变化也并非易事,这导致手术医生的临床经验和技能成为影响手术质量的关键因素。骨骼质地坚硬且较容易固定,可以看做是刚体。并且由于骨组织与周围组织区别较大,在CT、X线中的影像与周围组织差别较大,易于进行各种数字化处理,在进行手术时容易配准。以上有利因素促使骨科手术机器人成为手术机器人研究中的热点之一,并取得的较大进展。针对骨科手术的实际需求,本文选择了UR10机械臂作为硬件平台,并基于此开发了骨科手术机器人控制系统。完成了下列四个方面的工作:基于VTK的骨科手术机器人三维交互系统;手术机器人的运行控制系统,包括点动控制,轨迹控制等功能;术前的三维模型导入,路径规划;术中的坐标配准,及实时刀具路径控制。最后通过一个模拟实例,演示了系统的主要功能。系统完成了设计需求,满足预期的要求。
[Abstract]:With the rapid development of computer technology, medical science in the 21 st century has entered the digital age. Digital orthopedics is an interdisciplinary subject which combines traditional orthopedics and computer technology. The related research is also a hot field of digital medicine in recent years, orthopedic surgery robot is one of them. In the traditional orthopedic surgery, the formation of surgical plan is mainly through the doctors in the brain simulation surgery, the implementation of surgery also depends on the subjective impression of the surgical plan. Because orthopaedic surgery usually involves very complex geometric changes, it is not easy to visualize the complex geometric and topological changes of bone morphology in the brain. This leads to the clinical experience and skills of the surgeon as a key factor affecting the quality of the operation. Bones are hard and easy to fix and can be seen as rigid bodies. Because the bone tissue is different from the surrounding tissue, the image in the CT,X line is different from the surrounding tissue, so it is easy to carry out all kinds of digital processing, and it is easy to be registered during the operation. The above favorable factors make orthopaedic surgery robot become one of the hotspots in the research of surgical robot, and great progress has been made. According to the actual demand of orthopedic surgery, the UR10 manipulator is chosen as the hardware platform, and the control system of orthopedic surgery robot is developed based on it. The following four aspects have been completed: the 3D interactive system of orthopedic robot based on VTK, the operation control system of the robot, including the functions of point motion control and trajectory control, the introduction of 3D model before operation, the path planning, etc. Coordinate registration and real-time tool path control during operation. Finally, the main functions of the system are demonstrated by a simulation example. The system has completed the design requirements to meet the expected requirements.
【学位授予单位】：长安大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：R687;TP242
本文编号：2298535
[Abstract]:With the rapid development of computer technology, medical science in the 21 st century has entered the digital age. Digital orthopedics is an interdisciplinary subject which combines traditional orthopedics and computer technology. The related research is also a hot field of digital medicine in recent years, orthopedic surgery robot is one of them. In the traditional orthopedic surgery, the formation of surgical plan is mainly through the doctors in the brain simulation surgery, the implementation of surgery also depends on the subjective impression of the surgical plan. Because orthopaedic surgery usually involves very complex geometric changes, it is not easy to visualize the complex geometric and topological changes of bone morphology in the brain. This leads to the clinical experience and skills of the surgeon as a key factor affecting the quality of the operation. Bones are hard and easy to fix and can be seen as rigid bodies. Because the bone tissue is different from the surrounding tissue, the image in the CT,X line is different from the surrounding tissue, so it is easy to carry out all kinds of digital processing, and it is easy to be registered during the operation. The above favorable factors make orthopaedic surgery robot become one of the hotspots in the research of surgical robot, and great progress has been made. According to the actual demand of orthopedic surgery, the UR10 manipulator is chosen as the hardware platform, and the control system of orthopedic surgery robot is developed based on it. The following four aspects have been completed: the 3D interactive system of orthopedic robot based on VTK, the operation control system of the robot, including the functions of point motion control and trajectory control, the introduction of 3D model before operation, the path planning, etc. Coordinate registration and real-time tool path control during operation. Finally, the main functions of the system are demonstrated by a simulation example. The system has completed the design requirements to meet the expected requirements.
【学位授予单位】：长安大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：R687;TP242
【共引文献】
相关博士学位论文 前1条
1 卢汉良;海底观测网络水下接驳盒原型系统技术研究[D];浙江大学;2011年
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