本文選題：手術(shù)機器人 + 脊柱手術(shù)　； 參考：《哈爾濱工業(yè)大學(xué)》2017年碩士論文

【摘要】：隨著機器人技術(shù)在工業(yè)領(lǐng)域的發(fā)展和成熟,越來越多的科研機構(gòu)著力于機器人技術(shù)在醫(yī)療行業(yè)的應(yīng)用研究,其中脊柱手術(shù)機器人就是一個熱點方向。椎板減壓手術(shù)是脊柱手術(shù)中最常見的手術(shù)之一,其通過磨削病灶區(qū)的椎板來緩解椎板對脊神經(jīng)的壓迫。本文致力于開發(fā)一種可實現(xiàn)脊柱椎板磨削的輕型手術(shù)機器人系統(tǒng),其可以替代醫(yī)生對患者椎板進行精細磨削,同時也可模擬醫(yī)生的手感,在磨削過程中進行力感知。根據(jù)椎板減壓手術(shù)的臨床要求,首先設(shè)計一種4自由度串聯(lián)式機械臂來驅(qū)動醫(yī)用骨鉆,骨鉆的磨頭通過旋轉(zhuǎn)進行椎板磨削。機械臂與骨鉆通過6維力/力矩傳感器相連接,從而構(gòu)成力反饋系統(tǒng)。同時構(gòu)建機器人運動控制系統(tǒng),該系統(tǒng)可接收圖像導(dǎo)航系統(tǒng)的軌跡規(guī)劃信息并可實現(xiàn)力反饋信號的分析處理。最后形成了力反饋型椎板磨削手術(shù)機器人系統(tǒng)。為了控制機器人運動,對機器人的運動學(xué)和工作空間進行分析。根據(jù)機器人的結(jié)構(gòu)特點,采用D-H法對機器人的正逆運動學(xué)進行求解。通過采用蒙特卡羅法對機器人的工作空間進行分析,并通過矢量微分法計算出機器人的雅可比矩陣。為了保證椎板磨削的剩余量,根據(jù)臨床中骨鉆末端與椎板接觸處的受力特性提出了一種基于模糊控制的力反饋控制策略。通過對豬、羊、牛三種脊椎骨的磨削力實驗數(shù)據(jù),得到椎板磨削狀態(tài)的感知公式,實現(xiàn)椎板磨削手術(shù)機器人系統(tǒng)的力反饋控制。最后,在豬、牛、羊脊椎骨三種樣本骨上對手術(shù)機器人系統(tǒng)進行實驗驗證。通過三種樣本骨的12次實驗結(jié)果,發(fā)現(xiàn)樣本的磨削余量均滿足手術(shù)安全要求,驗證了力反饋控制策略的有效性及椎板磨削手術(shù)機器人系統(tǒng)的可行性。
[Abstract]:With the development and maturity of robot technology in the industrial field, more and more scientific research institutions focus on the application of robot technology in the medical industry, in which spine surgery robot is a hot direction.Laminar decompression is one of the most common operations in spinal surgery. It relieves spinal nerve compression by grinding the lamina of the focus area.This paper is devoted to the development of a kind of light surgical robot system which can realize the grinding of spinal lamina. It can replace the fine grinding of the patient's lamina by doctors, and can also simulate the sense of the hand of the doctor and carry out force perception during the grinding process.According to the clinical requirements of laminectomy, a 4-DOF series manipulator was designed to drive the medical bone drill, and the grinding head of the drill was rotated to grind the vertebral plate.The manipulator is connected with the bone drill through a 6 D force / torque sensor to form a force feedback system.At the same time, the robot motion control system is constructed. The system can receive the trajectory planning information of the image navigation system and realize the analysis and processing of the force feedback signal.Finally, a force feedback grinding robot system for laminar grinding is developed.In order to control the motion of the robot, the kinematics and workspace of the robot are analyzed.According to the structural characteristics of the robot, D-H method is used to solve the forward and inverse kinematics of the robot.The workspace of the robot is analyzed by Monte Carlo method, and the Jacobian matrix of the robot is calculated by vector differential method.A force feedback control strategy based on fuzzy control was proposed according to the mechanical characteristics of the contact between the end of bone drill and the lamina of vertebrae in order to ensure the residual amount of laminar grinding.Based on the experimental data of grinding force of three kinds of vertebrae, such as pig, sheep and cow, the perceptual formula of the grinding state of vertebral lamina is obtained, and the force feedback control of the robot system of laminar grinding is realized.Finally, the operation robot system was tested on the vertebrae of pig, cow and sheep.According to the results of 12 experiments of three kinds of bone samples, it is found that the grinding allowance of the samples can meet the requirements of surgical safety. The effectiveness of the force feedback control strategy and the feasibility of the robot system for laminar grinding are verified.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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