【摘要】：隨著計算機技術的快速發(fā)展,21世紀的醫(yī)學也已進入了數(shù)字時代。數(shù)字骨科學是一門結合了傳統(tǒng)的骨科學與計算機技術的交叉學科,與之相關的研究也是近年來數(shù)字醫(yī)學研究的熱點領域,骨科手術機器人便是其中之一。傳統(tǒng)的骨科手術里,手術方案的形成主要是通過醫(yī)生在大腦中模擬手術,實施手術時也需依靠醫(yī)生的對手術方案的主觀印象。由于骨科手術通常涉及非常復雜的幾何結構變化,要在大腦中清晰的想象出術中骨骼形態(tài)的幾何和拓撲結構的復雜變化也并非易事,這導致手術醫(yī)生的臨床經驗和技能成為影響手術質量的關鍵因素。骨骼質地堅硬且較容易固定,可以看做是剛體。并且由于骨組織與周圍組織區(qū)別較大,在CT、X線中的影像與周圍組織差別較大,易于進行各種數(shù)字化處理,在進行手術時容易配準。以上有利因素促使骨科手術機器人成為手術機器人研究中的熱點之一,并取得的較大進展。針對骨科手術的實際需求,本文選擇了UR10機械臂作為硬件平臺,并基于此開發(fā)了骨科手術機器人控制系統(tǒng)。完成了下列四個方面的工作:基于VTK的骨科手術機器人三維交互系統(tǒng);手術機器人的運行控制系統(tǒng),包括點動控制,軌跡控制等功能;術前的三維模型導入,路徑規(guī)劃;術中的坐標配準,及實時刀具路徑控制。最后通過一個模擬實例,演示了系統(tǒng)的主要功能。系統(tǒng)完成了設計需求,滿足預期的要求。
[Abstract]:With the rapid development of computer technology, medical science in the 21 st century has entered the digital age. Digital orthopedics is an interdisciplinary subject which combines traditional orthopedics and computer technology. The related research is also a hot field of digital medicine in recent years, orthopedic surgery robot is one of them. In the traditional orthopedic surgery, the formation of surgical plan is mainly through the doctors in the brain simulation surgery, the implementation of surgery also depends on the subjective impression of the surgical plan. Because orthopaedic surgery usually involves very complex geometric changes, it is not easy to visualize the complex geometric and topological changes of bone morphology in the brain. This leads to the clinical experience and skills of the surgeon as a key factor affecting the quality of the operation. Bones are hard and easy to fix and can be seen as rigid bodies. Because the bone tissue is different from the surrounding tissue, the image in the CT,X line is different from the surrounding tissue, so it is easy to carry out all kinds of digital processing, and it is easy to be registered during the operation. The above favorable factors make orthopaedic surgery robot become one of the hotspots in the research of surgical robot, and great progress has been made. According to the actual demand of orthopedic surgery, the UR10 manipulator is chosen as the hardware platform, and the control system of orthopedic surgery robot is developed based on it. The following four aspects have been completed: the 3D interactive system of orthopedic robot based on VTK, the operation control system of the robot, including the functions of point motion control and trajectory control, the introduction of 3D model before operation, the path planning, etc. Coordinate registration and real-time tool path control during operation. Finally, the main functions of the system are demonstrated by a simulation example. The system has completed the design requirements to meet the expected requirements.
【學位授予單位】：長安大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：R687;TP242

【共引文獻】

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1 盧漢良;海底觀測網(wǎng)絡水下接駁盒原型系統(tǒng)技術研究[D];浙江大學;2011年

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本文編號：2298535