膝關(guān)節(jié)置換手術(shù)中的機(jī)器人切骨系統(tǒng)研究與開發(fā)
發(fā)布時間：2018-11-03 18:37
【摘要】：20世紀(jì)以來,醫(yī)學(xué)技術(shù)和醫(yī)療設(shè)備的不斷升級讓醫(yī)療外科取得巨大的進(jìn)步。醫(yī)療外科的改革也不斷的被提上了日程,機(jī)器人輔助手術(shù)系統(tǒng)在臨床醫(yī)療中的使用越來越普遍,例如全膝關(guān)節(jié)置換手術(shù)、全髖關(guān)節(jié)置換等輔助手術(shù)機(jī)器人系統(tǒng)。但是像ROBODOC、CASPAR、ACROBOT等骨科手術(shù)機(jī)器人系統(tǒng),由于售價十分高昂導(dǎo)致其在中國和其他發(fā)展中國家還未能得到推廣和普及。所以有必要開展膝關(guān)節(jié)置換手術(shù)中切骨系統(tǒng)的研究與開發(fā),旨在提高國內(nèi)骨科手術(shù)機(jī)器人研究水平。通過對膝關(guān)節(jié)置換機(jī)器人系統(tǒng)的調(diào)研得知其應(yīng)具備以下功能:手術(shù)機(jī)器人及其實(shí)體控制;基于CT圖像的三維模型重建;基于視覺的定位導(dǎo)航。本課題的研究目標(biāo)就在于研究和開發(fā)一套機(jī)器人輔助全膝關(guān)節(jié)置換手術(shù)中的切骨系統(tǒng),其主要包括以下方面:首先,機(jī)器人輔助切骨系統(tǒng)構(gòu)建:1)膝關(guān)節(jié)置換手術(shù)中重要的概念進(jìn)行詳細(xì)說明,例如脛骨平臺、股骨干線、下肢力線、膝關(guān)節(jié)假體等;2)對傳統(tǒng)人工的膝關(guān)節(jié)置換手術(shù)的股骨切骨和脛骨切骨部分進(jìn)行了簡要介紹,主要目的在于方便后續(xù)章節(jié)的展開;3)針對膝關(guān)節(jié)置換手術(shù)中機(jī)器人切骨系統(tǒng)的硬件進(jìn)行選取,主要包括切骨機(jī)器人本體、深度視覺傳感器、機(jī)器人末端切骨執(zhí)行器的選取;4)針對膝關(guān)節(jié)置換手術(shù)中機(jī)器人切骨系統(tǒng)的軟件控制系統(tǒng)功能模塊進(jìn)行分析并加以實(shí)現(xiàn)。其次,對切骨標(biāo)定的方法和技術(shù)展開詳細(xì)分析:1)提出Xtion相機(jī)的內(nèi)參標(biāo)定和Xtion相機(jī)坐標(biāo)系到機(jī)器人基座標(biāo)系手眼標(biāo)定的具體方法;2)完成股骨、脛骨關(guān)鍵點(diǎn)視覺定位工具的結(jié)構(gòu)設(shè)計;3)對標(biāo)志板和探針標(biāo)記點(diǎn)的三維坐標(biāo)提取算法做了詳細(xì)介紹和實(shí)現(xiàn);4)利用視覺定位工具和視覺系統(tǒng)完成建立股骨和脛骨坐標(biāo)系,并對股骨和脛骨的標(biāo)定進(jìn)行詳細(xì)分析和推導(dǎo);5)對切骨標(biāo)定方法進(jìn)行了精度誤差分析。然后,對操作臂切骨運(yùn)動規(guī)劃和實(shí)現(xiàn)進(jìn)行分析:1)在對UR5機(jī)器人進(jìn)行正逆運(yùn)動學(xué)分析和推導(dǎo);2)利用探針提取股骨、脛骨關(guān)鍵特征點(diǎn)完成股骨和脛骨的建模,從而選取對應(yīng)的假體,最后結(jié)合假體的關(guān)鍵尺寸來生成對應(yīng)的切骨面;3)根據(jù)生成的切骨面并結(jié)合不同切骨面的切骨方式完成各切骨面的軌跡規(guī)劃。最后,利用機(jī)器人切骨系統(tǒng)完成模型骨切骨實(shí)驗(yàn):1)ROS平臺下完成切骨動作的仿真實(shí)驗(yàn);2)利用機(jī)器人切骨系統(tǒng)完成模型骨切骨實(shí)驗(yàn);3)切骨下肢力線的重建效果的檢驗(yàn)和機(jī)器人切骨系統(tǒng)評估。本文通過全膝關(guān)節(jié)置換手術(shù)機(jī)器人切骨系統(tǒng)進(jìn)行了全面的介紹,以及完成對模型骨切骨實(shí)驗(yàn),充分驗(yàn)證了全膝關(guān)節(jié)置換手術(shù)機(jī)器人切骨系統(tǒng)的可行性,主要包括股骨脛骨標(biāo)定方法的可行性,標(biāo)志點(diǎn)實(shí)時跟蹤和定位算法的可行性,操作臂運(yùn)動規(guī)劃的可行性,以及最終恢復(fù)患者下肢力線的可行性。
[Abstract]:Since the 20 th century, medical surgery has made great progress due to the continuous upgrading of medical technology and medical equipment. The reform of medical surgery has been constantly put on the agenda, the use of robot-assisted surgery system in clinical medicine is becoming more and more common, such as total knee arthroplasty, total hip replacement and other assisted surgery robot systems. But orthopedic robotic systems, such as ROBODOC,CASPAR,ACROBOT, have not been popularized in China and other developing countries because of their high prices. Therefore, it is necessary to develop the osteotomy system in knee arthroplasty in order to improve the research level of orthopedic robot in China. Through the investigation of knee replacement robot system, we know that it should have the following functions: operation robot and its entity control; 3D model reconstruction based on CT image; location and navigation based on vision. The research goal of this project is to study and develop a set of osteotomy system in robot assisted total knee arthroplasty, which mainly includes the following aspects: first of all, Robot assisted osteotomy system construction: 1) the important concepts of knee arthroplasty are described in detail, such as tibial plateau, femoral trunk, lower limb force line, knee prosthesis and so on; 2) A brief introduction was made to the femur and tibial osteotomy of the traditional artificial knee arthroplasty, the main purpose of which was to facilitate the development of the subsequent chapters; 3) selecting the hardware of the robot osteotomy system in knee arthroplasty, including the body of the robot, the depth vision sensor, and the end cutting actuator of the robot; 4) the function module of software control system of robot bone cutting system in knee arthroplasty is analyzed and realized. Secondly, the methods and techniques of bone cutting calibration are analyzed in detail: 1) the inner parameter calibration of Xtion camera and the method of hand-eye calibration from Xtion camera coordinate system to robot pedestal marking system are presented. 2) complete the structure design of the visual positioning tool for the key points of femur and tibia, 3) introduce and implement the 3D coordinate extraction algorithm of marker board and probe mark point in detail; 4) the coordinate system of femur and tibia is established by using visual positioning tools and visual system, and the calibration of femur and tibia is analyzed and deduced in detail. Then, the motion planning and realization of the operation arm osteotomy are analyzed: 1) the forward and inverse kinematics analysis and derivation of the UR5 robot are carried out; 2) using the probe to extract the femur, the key characteristic points of the tibia were used to complete the modeling of the femur and tibia, then the corresponding prosthesis was selected, and the corresponding osteotomy surface was generated by combining the key dimensions of the prosthesis. 3) the trajectory planning of each osteotomy plane is completed according to the generated osteotomy surface and the different osteotomy methods. Finally, the robot osteotomy system is used to complete the model osteotomy experiment: 1) under the ROS platform, 2) the robot osteotomy system is used to complete the model bone cutting experiment. 3) the effect of the reconstruction of the force line of the lower limb and the evaluation of the robot bone cutting system. In this paper, the osteotomy system of total knee arthroplasty robot is introduced comprehensively, and the experiment of model osteotomy is completed, which fully verifies the feasibility of the osteotomy system of total knee arthroplasty robot. It mainly includes the feasibility of tibial calibration method, the feasibility of real-time tracking and positioning algorithm of marker points, the feasibility of motion planning of manipulating arm, and the feasibility of recovering the force line of lower extremity of the patient.
【學(xué)位授予單位】：廣東工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242
[Abstract]:Since the 20 th century, medical surgery has made great progress due to the continuous upgrading of medical technology and medical equipment. The reform of medical surgery has been constantly put on the agenda, the use of robot-assisted surgery system in clinical medicine is becoming more and more common, such as total knee arthroplasty, total hip replacement and other assisted surgery robot systems. But orthopedic robotic systems, such as ROBODOC,CASPAR,ACROBOT, have not been popularized in China and other developing countries because of their high prices. Therefore, it is necessary to develop the osteotomy system in knee arthroplasty in order to improve the research level of orthopedic robot in China. Through the investigation of knee replacement robot system, we know that it should have the following functions: operation robot and its entity control; 3D model reconstruction based on CT image; location and navigation based on vision. The research goal of this project is to study and develop a set of osteotomy system in robot assisted total knee arthroplasty, which mainly includes the following aspects: first of all, Robot assisted osteotomy system construction: 1) the important concepts of knee arthroplasty are described in detail, such as tibial plateau, femoral trunk, lower limb force line, knee prosthesis and so on; 2) A brief introduction was made to the femur and tibial osteotomy of the traditional artificial knee arthroplasty, the main purpose of which was to facilitate the development of the subsequent chapters; 3) selecting the hardware of the robot osteotomy system in knee arthroplasty, including the body of the robot, the depth vision sensor, and the end cutting actuator of the robot; 4) the function module of software control system of robot bone cutting system in knee arthroplasty is analyzed and realized. Secondly, the methods and techniques of bone cutting calibration are analyzed in detail: 1) the inner parameter calibration of Xtion camera and the method of hand-eye calibration from Xtion camera coordinate system to robot pedestal marking system are presented. 2) complete the structure design of the visual positioning tool for the key points of femur and tibia, 3) introduce and implement the 3D coordinate extraction algorithm of marker board and probe mark point in detail; 4) the coordinate system of femur and tibia is established by using visual positioning tools and visual system, and the calibration of femur and tibia is analyzed and deduced in detail. Then, the motion planning and realization of the operation arm osteotomy are analyzed: 1) the forward and inverse kinematics analysis and derivation of the UR5 robot are carried out; 2) using the probe to extract the femur, the key characteristic points of the tibia were used to complete the modeling of the femur and tibia, then the corresponding prosthesis was selected, and the corresponding osteotomy surface was generated by combining the key dimensions of the prosthesis. 3) the trajectory planning of each osteotomy plane is completed according to the generated osteotomy surface and the different osteotomy methods. Finally, the robot osteotomy system is used to complete the model osteotomy experiment: 1) under the ROS platform, 2) the robot osteotomy system is used to complete the model bone cutting experiment. 3) the effect of the reconstruction of the force line of the lower limb and the evaluation of the robot bone cutting system. In this paper, the osteotomy system of total knee arthroplasty robot is introduced comprehensively, and the experiment of model osteotomy is completed, which fully verifies the feasibility of the osteotomy system of total knee arthroplasty robot. It mainly includes the feasibility of tibial calibration method, the feasibility of real-time tracking and positioning algorithm of marker points, the feasibility of motion planning of manipulating arm, and the feasibility of recovering the force line of lower extremity of the patient.
【學(xué)位授予單位】：廣東工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242
【參考文獻(xiàn)】
相關(guān)期刊論文 前10條
1 陳清;李杏芮;盛華均;呂發(fā)金;;三維模型中踝關(guān)節(jié)中心定位的研究[J];中國臨床解剖學(xué)雜志;2016年02期
2 李光林;鄭悅;吳新宇;胡穎;方鵬;熊t，
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