脊柱手术机器人-计算机工程与应用.PDF

Computer Engineering and Applications 计算机工程与应用 2014 ，50（14） 265 脊柱手术机器人 1，2 1 2 2 郑小丽 ，杨唐胜 ，靳海洋 ，王立盛 1，2 1 2 2 ZHENG Xiaoli , YANG Tangsheng , JIN Haiyang , WANG Lisheng 1.湖南大学 电气与信息工程学院，长沙 410082 2.中国科学院 深圳先进技术研究院，广东 深圳 518055 1.College of Electrical and Information Engineering, Hunan University, Changsha 410082, China 2.Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong 518055, China ZHENG Xiaoli, YANG Tangsheng, JIN Haiyang, et al. Spine surgery robot. Computer Engineering and Applica- tions, 2014, 50 （14）：265-270. Abstract ：In the vertebral pedicle screw fixation surgery, to overcome the low positioning accuracy of manual operation and the fatigue during long time surgery, a spine surgery robot system used to assist the surgeons in the vertebral pedicle screw fixation surgery is performed. The robot has a configuration of five Degrees of freedom （Dofs ）. It is designed with full account of surgical safety and the effective coverage of operation space. Also, its kinematics is completely analyzed. The control system of the robot includes the active control mode based on the image navigation, and passive control mode based on a 6 Dofs force/torque sensor. In the active control mode, the doctor plans optimized location information for the screw path through the navigation system, and then the robot automatically locates the surgical point according to the planned path; passive control mode is based on admittance control principle, which maps the drag force acting on the end- effector to the motion of the robot. So that the robot moves following the drag action. The force drag control experiments verify the effectiveness of the passive control mode. Key words ：spinal surgery; admittance control; image navigation; surgical robotics 摘 要：针对脊柱手术