面向髓内钉闭合穿钉手术的机器人系统

Robot assisted intramedullary interlocking nail system

为了辅助医生完成髓内钉闭合穿钉手术,实现在医生直接控制下的微创骨科手术,研制了由机器人子系统、导航子系统、遥操作子系统和手术仿真子系统组成的机器人辅助髓内钉闭合穿钉手术系统。该手术系统可以在X光图像的引导下,完成断骨牵引复位和髓内钉远端锁定操作,从而提高复位的效果,降低医生的工作强度。同时系统的遥操作功能使医生在非手术地点可遥控系统完成一系列的手术操作,减少医生在X射线下的暴露时间。实验表明,机器人手术系统满足手术要求,可以准确完成手术动作。

In order to assist surgeons to complete intramedullary interlocking nail, and implement minimally invasive surgery under direct control of the surgeon, a robot assisted intramedullary interlocking nail system is developed, which mainly virtual surgery subsystem. consists of robot subsystem, image navigation subsystem, telesurgery subsystem and The surgery system can dispose the real time X-ray images, guide the parallel robot to restore fractured bones and guide the series robot to lock distal hole of intramedullary nails. It can assist surgeons to perform fractured surgery more effectively by improving accuracy of reposition and more easily by releasing the surgeons from the heavy operation. At the same time, the teleoperation can assist surgeons to perform fracture surgery at other place, more safely by reducing irradiation damage. The experimental results show that the developed robot assisted intramedullary interlocking nail system can fulfill the surgery task of fracture surgery accurately.