腓骨修复颌骨重建手术辅助机器人系统实验验证

Experimental Verification of an Assisted Robotic System for Mandibular Reconstruction Surgery with Fibula

本文设计一种腓骨修复颌骨重建手术机器人系统,以辅助医生定位把持游离骨块,实现骨块的空间精确定位和姿态调整。该手术辅助机器人系统主要包括三臂机器人、光学定位仪、定位支架与定位探针、机器人工作站、力觉交互设备以及手术设计系统。在机器人系统辅助下,分别以实际患者的头颅模型和山羊作为实验对象进行颌骨重建手术,验证机器人系统的精度。试验表明该机器人系统能够完成下颌骨重建手术中游离骨块的植入、定位及稳固把持,可辅助医生提高手术精度和质量。目前,该机器人系统仍处于试验阶段,距离临床应用还有诸多难点需要突破。

In this paper, an assisted robotic system for mandibular reconstruction with fibula was designed to assist doctors to locate and hold the free bone, in order to achieve precise spatial positioning and orientation adjustment of the bone. The assisted robotic system mainly includes a three-arm robot, an optical locator, a positioning bracket, a positioning probe, a robot workstation, a force sensing interactive device and a surgical design system. With the assistance of the robotic system,mandibular reconstruction surgery was performed using the skull model of the actual patient and the goat as the experimental subjects, and the accuracy of the robotic system was verified. The results showed that the robotic system can complete the implantation, localization and stable control of the free bone in the mandibular reconstruction surgery, and could assist doctors to improve the surgical accuracy and quality. The robotic system is still in the experimental stage currently, and there are still many difficulties to be overcome in clinical application.