双平面导航机器人系统在不同骨科适应症中的应用研究

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王豫, 贠超, 张丰全, 杨闯. 双平面导航机器人系统在不同骨科适应症中的应用研究[J]. 机器人, 2007, 29(3): 200-206.. WANG Yu, YUN Chao, ZHANG Feng-quan, YANG Chuang. Application of the Bi-planar Navigation Robot System in Different Orthopedic Indications. ROBOT, 2007, 29(3): 200-206..

摘要从双平面定位算法和模块化导航机器人两方面阐述了双平面导航机器人系统．该系统通过对映射算法和导航机器人结构的调整，来适应不同的骨科适应症．本文从工作空间、投影模型、定位算法、临床实验及评价指标等方面介绍了双平面导航机器人系统在胫骨髓内钉、股骨髓内钉、股骨颈空心钉和骨盆骶髂关节螺钉这四种不同的骨科手术适应症中的应用研究情况．

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	王豫
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	杨闯

关键词 ：计算机辅助骨科手术, 空间定位, 医用机器人, 髓内钉, 股骨颈空心钉, 骶髂关节螺钉

Abstract：This paper introduces the bi-planar navigation robot system in terms of the bi-planar localization algorithm and a modularized navigation robot.This system could be applied to different orthopedic indications by slightly modifying the mapping algorithm and the structure of navigation robot.The applications of the bi-planar navigation robot system in tibia intramedullary nailing,femur intramedullary nailing,femoral neck cannulated screw and sacro-iliac screw are also introduced in terms of workspace,projection module,localization algorithm,clinical experiments and evaluation indices.

Key words： Computer Assited Orthopedic Surgery(CAOS) three dimensional localization medical robot intramedu-llary nail sacro-iliac screw femoral neck cannulated screw

收稿日期: 2006-06-26

TP24

基金资助:国家杰出青年科学基金资助项目（60525314）；国家863计划资助项目（2004AA421022）；北京市科技计划资助项目（H060720050230）

作者简介: 王豫（1981- ），男，博士生．研究领域：先进机器人技术．
贠超（1952- ），男，教授，博士生导师．研究领域：先进机器人技术．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2007/V29/I3/200

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