【摘要】：作為骨科的一個分支,脊柱外科是一門具有高技術(shù)、高風(fēng)險的學(xué)科。手術(shù)中醫(yī)生需要在狹小的空間完成復(fù)雜的動作,難免會因為疲勞或視野不足等原因增大手術(shù)風(fēng)險,嚴重時導(dǎo)致手術(shù)失敗。機器人以其高定位精度、高穩(wěn)定性等特點,改善傳統(tǒng)手術(shù)模式,輔助醫(yī)生完成手術(shù)操作。就椎板磨削而言,目前使用機器人輔助醫(yī)生完成椎板磨削手術(shù)的相關(guān)研究比較少,且很多關(guān)鍵技術(shù)仍然處于研究階段,亟需進一步探討。所以本文將以椎板磨削為研究背景,對脊柱手術(shù)機器人系統(tǒng)的相關(guān)技術(shù)領(lǐng)域進行研究,包括導(dǎo)航注冊算法及自動注冊的研究、基于電流的狀態(tài)感知及變速磨削、基于虛擬夾具的磨削控制及椎板磨削實驗。本文將對注冊算法展開研究,針對已有算法精度低、計算量大等缺點,提出一種新的注冊算法Tetrahedral Framework registration algorithm(簡稱TF),該算法使用三點配準,多點優(yōu)化,過程簡單易懂、計算量小,并最終實現(xiàn)高精度配準。為了實現(xiàn)高效配準,本文將推出一款基于標記點的自動注冊器,實現(xiàn)導(dǎo)航系統(tǒng)自動注冊。為了模擬醫(yī)生手感,對機器人的狀態(tài)感知進行了研究,并以電流信號為基礎(chǔ),通過小波去噪、變化率閾值去突變、歸一化等處理,完成了骨組織的狀態(tài)識別,從而實現(xiàn)機器人的狀態(tài)感知。本文將基于狀態(tài)感知對變速磨削進行探討,當沒有接觸到骨頭的時候提高進給速度,當接觸到骨頭的時候減慢進給速度,并認為變速磨削方式可以實現(xiàn)安全高效磨削。為實現(xiàn)對機器人磨削路徑的精確引導(dǎo),本文將提出引入導(dǎo)納因子的引導(dǎo)型虛擬夾具和基于位置補償?shù)淖枘嵝吞摂M夾具,實現(xiàn)曲線跟蹤和阻止機器人進入特定區(qū)域的任務(wù)。最后本文將融合機器人導(dǎo)航系統(tǒng)、狀態(tài)感知和運動約束等技術(shù)實現(xiàn)安全高效的椎板磨削實驗。
[Abstract]:As a branch of orthopaedics, spinal surgery is a high-tech, high-risk discipline. Doctors need to complete complex operations in a narrow space, which inevitably increase the risk of surgery because of fatigue or lack of visual field, and lead to the failure of surgery. With its high positioning accuracy and high stability, the robot improves the traditional operation mode and assists the doctor to complete the operation. As far as laminar grinding is concerned, there are few researches on using robot assisted doctors to complete laminar grinding, and many key technologies are still in the research stage, which need to be further explored. Therefore, this paper will study the related technical fields of spinal surgery robot system, including navigation registration algorithm and automatic registration, current based state perception and variable speed grinding, based on laminar grinding as the research background. Grinding control based on virtual fixture and experiment of laminar grinding. In this paper, we will study the registration algorithm. Aiming at the shortcomings of the existing algorithms, such as low precision and large computation, a new registration algorithm, Tetrahedral Framework registration algorithm (, is proposed. The algorithm uses three points registration, multi-point optimization, simple process and little computation. And finally achieve high precision registration. In order to achieve efficient registration, this paper presents an automatic register based on marking points, which can automatically register navigation system. In order to simulate the doctor's sense of hand, the state perception of the robot is studied. Based on the current signal, the state recognition of bone tissue is accomplished by wavelet denoising, threshold de-mutation of change rate, normalization and so on. In order to realize the state perception of the robot. In this paper, the variable speed grinding is discussed based on state perception. The feed speed is increased when there is no contact with the bone and the feed speed is slowed down when the bone is in contact with the bone. It is considered that the variable speed grinding method can realize the safe and efficient grinding. In order to guide the grinding path of robot accurately, a guided virtual fixture with admittance factor and a damping virtual fixture based on position compensation are proposed to track curves and prevent robot from entering a specific area. Finally, the fusion of robot navigation system, state perception and motion constraints are used to achieve a safe and efficient laminar grinding experiment.
【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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本文編號：2182176