發(fā)布時間：2019-02-26 13:37

【摘要】：目的： 顱頜面外科手術(shù)以精確治療為目標(biāo)，為了改善傳統(tǒng)顱頜面外科手術(shù)精度不足的問題，可以通過引入光學(xué)導(dǎo)航技術(shù)與醫(yī)用機(jī)器人技術(shù)，分別解決手術(shù)的診斷與定位精度以及術(shù)中執(zhí)行精度的問題。本研究擬通過研究光學(xué)導(dǎo)航系統(tǒng)與手術(shù)機(jī)器人系統(tǒng)整合的關(guān)鍵技術(shù)問題，旨在初步建立基于光學(xué)導(dǎo)航控制的顱頜面外科手術(shù)輔助機(jī)器人系統(tǒng)，完成原理樣機(jī)的制作。 方法： 1.符合顱頜面外科手術(shù)需求的機(jī)械臂本體結(jié)構(gòu)的總體設(shè)計； 2.加工制作機(jī)械臂本體結(jié)構(gòu)各部件并進(jìn)行組裝； 3.導(dǎo)航控制模式的理論研究：基于現(xiàn)有的顱頜面外科手術(shù)導(dǎo)航系統(tǒng)TBNAVIS-CMFS （上海交通大學(xué)），研究光學(xué)導(dǎo)航系統(tǒng)與自主設(shè)計組裝的機(jī)械臂本體結(jié)構(gòu)整合的關(guān)鍵技術(shù)與網(wǎng)絡(luò)通訊算法，初步完成導(dǎo)航控制模式的理論研究； 4.原理樣機(jī)的建立：在模擬手術(shù)室內(nèi)建立完成的原理樣機(jī)系統(tǒng)，，包含三個部分：導(dǎo)航軟件平臺，導(dǎo)航定位儀，以及機(jī)械臂系統(tǒng)； 5.原理樣機(jī)的試運行：基于患者頭顱CT數(shù)據(jù)制作頭顱模型，在導(dǎo)航平臺上設(shè)計Lefort I型截骨手術(shù)方案以及機(jī)器人手術(shù)操作方案，術(shù)中通訊連接導(dǎo)航系統(tǒng)與機(jī)器人系統(tǒng)，將導(dǎo)航規(guī)劃的Lefort I型截骨手術(shù)指令發(fā)送 至機(jī)械臂完成操作，術(shù)中導(dǎo)航界面截屏，記錄手術(shù)過程。 結(jié)果： 1.完成設(shè)計組裝具有自主知識產(chǎn)權(quán)的七自由度手術(shù)機(jī)器人系統(tǒng)一臺； 2.實現(xiàn)TBNAVIS-CMFS導(dǎo)航系統(tǒng)與機(jī)器人系統(tǒng)的通訊連接，初步完成導(dǎo)航控制模式的理論研究； 3.在導(dǎo)航控制模式下，機(jī)械臂系統(tǒng)能夠自動地接收來自導(dǎo)航系統(tǒng)的規(guī)劃指令，手術(shù)過程實時可見，兩例頭顱模型上均完成規(guī)劃的Lefort I型截骨操作的試運行，截骨操作過程在導(dǎo)航界面實時可見。 4.初步完成導(dǎo)航控制七自由度顱頜面外科手術(shù)機(jī)器人系統(tǒng)原理樣機(jī)一臺。 結(jié)論： 1.對于網(wǎng)絡(luò)通訊連接與控制算法的研究，能夠有效整合光學(xué)導(dǎo)航系統(tǒng)與七自由度機(jī)械臂本體結(jié)構(gòu)，驗證了自主建立導(dǎo)航控制模式顱頜面外科手術(shù)輔助機(jī)器人系統(tǒng)技術(shù)路線的可行性； 2.初步建立完成了導(dǎo)航控制七自由度顱頜面外科手術(shù)機(jī)器人系統(tǒng)原理樣機(jī)，為進(jìn)一步開發(fā)試驗樣機(jī)奠定理論基礎(chǔ)，具有重要的指導(dǎo)意義；
[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.
【學(xué)位授予單位】：上海交通大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2014
【分類號】：TP242

【參考文獻(xiàn)】

相關(guān)期刊論文 前7條

1 李會軍;宋愛國;;主從式遠(yuǎn)程康復(fù)機(jī)器人系統(tǒng)中力反饋的實現(xiàn)(英文)[J];Journal of Southeast University(English Edition);2008年01期

2 杜志江,孫立寧,富歷新;醫(yī)療機(jī)器人發(fā)展概況綜述[J];機(jī)器人;2003年02期

3 岳龍旺;許天春;

本文編號：2430824