一种骨外科手术机器人的图像导航方法

An Image Navigation Way for Orthopaedic Surgery Robot

精确目标定位和手术路径规划是将机器人用于长骨骨折内固定手术中的关键技术．文中使用了局部法对X光图像进行畸变校正;并提出了一种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路径,从而引导串联机器人锁定髓内钉．实验表明,该导航方法仅需一张X光图像,有足够的定位精度和稳定性,可大大减少手术时间,降低医生所受辐射剂量．

Precise target orientation and surgery path planning are important technologies to use robot in long bone fracture therapies. After correcting the distortion of X-ray images by local method, the paper proposes a targeting method based on a geometric model to get the path for guiding the series robot to lock distal holes. Experimental results indicate that this method only needs one X-ray image, has enough positioning accuracy and stability, and dramatically decreases operating time and radiation dose.