基于CT与透视的骨科手术机器人内固定钉道规划与测量的误差因素分析

Error Factor Analysis of Planning and Measurement of Internal Fixation Nail Path of Orthopedic Surgery Robot Based on CT and Fluoroscopy

目的分析影响基于CT与透视的骨科手术机器人内固定钉道规划误差的因素,探讨数字化导航的精准性。方法利用股骨颈骨折倒三角形内固定模型,选择股骨颈的最大平面,钉道测量具体到层面,进行基于CT导航骨科手术机器人的钉道规划与测量;x线C型臂透视的钉道规划与测量股骨颈的切线位长度,比较分析两者的误差因素。结果基于CT导航骨科手术机器人规划的钉道测量:两底边顶点位置的钉道长度均数8.448±0.1036 cm,8.303±0.1016 cm,倒三角形顶点位置的钉道长度均数8.567±0.07080 cm,影响规划与测量精确度误差因素为测量选点。基于x线C型臂透视的规划钉道测量:两底边顶点位置的钉道长度均数7.996±0.1191 cm,7.996±0.1191 cm,顶点位置的钉道长度均数8.870±0.1264 cm,影响规划与测量精确度误差因素为切线位成像,投影成像,测量选点。结论影响基于CT导航骨科手术机器人的钉道规划与测量的误差因素相对较少,数字化导航精准度较高。

Objective Analyze the factors affecting the planning error of internal fixation nail path of orthopedic surgery robot based on CT and fluoroscopy,and to discuss the precision of digital navigation.Methods Using the inverted triangle internal fixation model of femoral neck fracture,the femoral neck was selected to obtain the maximum plane,and the nail canal measurement was specific to the level.X-ray c-arm fluoroscopy nail path planning and measurement,measurement is the length of the femoral neck tangential,comparative analysis of the error factors.Results The mean length of the nail track at the two bottom edges of the vertex was 8.448±0.1036cm,8.353±0.1016 cm,and the mean length of the nail track at the vertex of the inverted triangle was 8.567±0.07080cm.Planned nail channel measurement based on X-ray c-arm fluoroscopy:the mean length of nail channel at the vertex of the two bottom edges was 7.996±0.1191 cm,7.996±0.1191 cm,and the mean length of nail channel at the vertex was 8.870±0.1264cm.Conclusion The error factors affecting the planning and measurement of the CT-guided orthopedic surgery robot are relatively few and the accuracy of navigation is relatively high.