一种用于锁定髓内钉的新型计算机辅助整形外科系统

A New Computer-assisted Orthopaedic System for Locking Intramedullary Nails

介绍了一套用于整形外科的全自动机器人系统.该系统中的并联机器人取代了传统的复位工具,并提出了一种简单、准确的基于几何模型的对准方法,得到一条能够穿过髓内钉远端孔的三维路径,引导串联机器人锁定髓内钉.实验结果表明,该系统有足够的定位精度和稳定性,并可以大大减少手术所需时间.

An automatic robot system for orthopaedic operation is introduced, and the parallel robot in this system replaces the traditional reduction tools. A simple and precise targeting method based on a geometric model to get the 3-D path that passes the distal hole of the intramedullary nail is presented, for guiding the serial robot to lock the intramedullary nail. Experimental results indicate that the positioning accuracy and stability of this system are very high, and it reduces the operating time dramatically.