骶髂关节螺钉手术导航机器人系统设计及实验研究

Design and experimental research of a surgical navigation robotic system for sacro-iliac joint screw surgery

目的针对骶髂关节螺钉手术设计手术导航机器人系统,完成空间定位和路径导航,开展精度测试实验,检测系统定位的位置误差和角度误差。方法本文开发手术导航机器人系统,利用基于透视视觉的双平面定位算法完成空间定位,利用串并混联结构的机器人完成路径导航。使用模型骨和尸体骨共完成模拟手术实验16例,通过术前规划与术后结果图片的重叠来评价手术导航机器人的系统精度。结果本机器人系统最终测得的位置误差为(1.91±1.15)mm,角度误差为1.88°±0.915°。结论本文开发的手术导航机器人可提高手术精度和手术安全性,并减少术中透视的使用。系统的平均误差能够满足骶髂关节手术的要求,但误差的标准差较大,需在后续研究中通过算法和系统优化来改善。

Objective To design a surgical navigation robotic system to fulfill spatial positioning and surgical path navigation for sacro-iliac joint screw surgery. Methods This robotic system used fluoroscopy-based bi-planar method for positioning and the serial-parallel hybrid robot for navigation. Sixteen cases of surgery simulation experiments were carried out,and the accuracy was calculated by overlapping the pre-operative planning images with post-operative result images. Results The position error of this system was （1.91±1.15）mm,while the angular error was 1.88°±0.915°. Conclusions The surgical navigation robotic system improved the accuracy and safety,and effectively reduced the usage of intra-operative fluoroscopy. The mean error satisfied the requirement for sacro-iliac joint screw surgery,yet the standard deviation was relatively large which could be improved by algorithm and system optimization.