张英豪, 李维全, 陈家禾, 宋国立, 齐岩松, 徐永胜, 王君臣. 机器人辅助微创全膝关节置换手术系统[J]. 机器人, 2021, 43(4): 386-394. DOI: 10.13973/j.cnki.robot.200527
引用本文: 张英豪, 李维全, 陈家禾, 宋国立, 齐岩松, 徐永胜, 王君臣. 机器人辅助微创全膝关节置换手术系统[J]. 机器人, 2021, 43(4): 386-394. DOI: 10.13973/j.cnki.robot.200527
ZHANG Yinghao, LI Weiquan, CHEN Jiahe, SONG Guoli, QI Yansong, XU Yongsheng, WANG Junchen. Robot-assisted Minimally Invasive Total Knee Arthroplasty System[J]. ROBOT, 2021, 43(4): 386-394. DOI: 10.13973/j.cnki.robot.200527
Citation: ZHANG Yinghao, LI Weiquan, CHEN Jiahe, SONG Guoli, QI Yansong, XU Yongsheng, WANG Junchen. Robot-assisted Minimally Invasive Total Knee Arthroplasty System[J]. ROBOT, 2021, 43(4): 386-394. DOI: 10.13973/j.cnki.robot.200527

机器人辅助微创全膝关节置换手术系统

Robot-assisted Minimally Invasive Total Knee Arthroplasty System

  • 摘要: 开发了面向全膝关节置换手术的机器人辅助截骨系统,实现了膝关节解剖结构精准建模、术前截骨路径3维规划、图像配准以及术中机器人可视化导航.采用多模态图像融合与主动轮廓模型分割技术实现了包含关节软骨在内的膝关节自动化建模与可视化;在此基础上采用3维交互技术实现截骨路径的术前规划;术中基于自主研发的双目视觉跟踪系统,采集关节骨表面3维点云与术前3维模型进行形状配准,完成图像空间和机器人空间之间的映射;最后通过视觉导航技术引导机器人完成截骨操作.实验结果表明,机器人系统综合定位误差为0.87 mm,截骨操作误差小于1 mm.

     

    Abstract: A robot-assisted osteotomy system for total knee arthroplasty is developed, which realizes accurate modeling of knee anatomical structures, 3-dimensional planning of preoperative osteotomy path, image registration, and intraoperative robot operation with visual navigation. Using multi-modality image fusion and active contour model segmentation technology, the automatic modeling and visualization of a knee joint including articular cartilages are realized. On this basis, 3D interactive technology is adopted to realize preoperative planning of osteotomy path. With the self-developed binocular tracking system, the 3D point cloud of articular bone surface is collected for shape registration with the preoperative 3D model to perform registration between the image space and the robot space. Finally, the robot is guided visually to complete the osteotomy operation. The experimental results show that the comprehensive positioning error of the robot system is 0.87 mm, and the osteotomy operation error is less than 1 mm.

     

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