RSSS-II 脊柱手术机器人系统开发及其实验研究

手术机器人应用于脊柱手术中,辅助医生完成脊柱手术中钉道定位、钻钉道等操作,有助于降低医生工作强度,保证了手术操作的精确性、稳定性和安全性.文章针对椎弓根钉内固定术,设计研制了脊柱手术辅机器人系统RSSS-Ⅱ.首先,从脊柱手术的临床需求出发,充分考虑术中安全性、手术区域覆盖范围、患者术中摆位以及对机器人占地空间等多方面因素,设计六自由度串联式手术机械臂以及力反馈钻骨装置.其次,以椎弓根钉内固定术中准确定位为目的,对机器人导航定位所涉及的关键技术展开研究,构建了图像导航定位系统.最后,通过精度测试实验和离体样本骨实验,对关键技术及系统的精度、安全性等进行原理性验证.实验结果显示,脊柱手术机器人系统RSSS-Ⅱ能满足手术对精度的要求.

The Development and Experiment Study of a Robotic Spinal Surgical System RSSS-II

Using robotic surgery system in the transpedicular screw path drilling would be helpful for alleviating the burden of surgeons and guarantee the correctness, stability and safety of operations. Focusing on transpedicular fixation operation, the robotic spinal surgical system RSSS-II was designed and developed. Firstly, a 6 degree of freedoms in-serial surgery robotic arm and a bone drilling device with force sampling were designed to meet the requirements of spinal surgeries, such as the operational safety, the range of the operation area, the positioning of patient and installation space issues. Secondly, for the precise control of robot in positioning and path drilling process, some key technologies were studied and then the image navigation system was built. Finally, the safety, accuracy and feasibility of developed robotic spinal surgery system RSSS-II we demonstrated through series of experiments. The experimental results show that the accuracy of the system can satisfy the clinical requirement.