基于MOTOMAN机器人的髓内钉自动打孔系统

Intra-medullary nail's autodrill system based on MOTOMAN robot

本文介绍了骨科手术中一种新的髓内钉的打孔方法。由双目空间定位系统获得标志点的空间坐标,通过一系列的计算得出电钻到达正确的空间位置和方向所需的旋转量和平移量,将计算的结果显示在计算机屏幕上,同时传递给MOTOMAN机器人系统,使机器人手持电钻获得正确的平移量和旋转量,从而达到在髓内钉上正确打孔,避免人为因素造成不必要的手术伤害。

A new intra-medullary nail＇s drilling method is introduced. With the help of binocular spatial position system, we can get the 3D coordinate of the mark points on operation instrument, and electrical drill＇s rotation and translation amount to get to the correct position can be also gotten through a series of calculation. Displaying the above result on computer and transferring it to MOTOMAN robot system, the electric drill connecting with the robot will receive the rotation and translation amount and drilling on instra medullary nail accurately, thus avoiding unnecessary hurt for the reason of people.