Development of the first force-controlled robot for otoneurosurgery
Development of the first force-controlled robot for otoneurosurgery
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DOI：
10.1097/00005537-200303000-00014
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发表时间：
2003-03-01
期刊：
影响因子：
2.6
通讯作者：
Plinkert, PK
中科院分区：
文献类型：
--
作者：
Federspil, PA;Geisthoff, UW;Plinkert, PK
Objective.在某些外科专业（如骨科）中，机器人已经在手术室中用于骨骼铣削工作。耳科手术和耳神经外科手术也可以大大受益于机器人技术的精确度提高。研究设计：机器人铣削橡木和人颞骨标本的实验研究。方法.使用具有六自由度串联运动学的标准工业机器人，并使用力反馈来按比例控制机器人速度。基于人工耳蜗和植入式听力系统的计算机辅助设计（CAD）几何数据，对不同铣削模式和特征路径参数进行评估，以生成铣削路径。结果最适合的策略被证明是螺旋水平铣削模式，磨头垂直于颞骨表面。为了减少凹槽高度，路径之间的距离应等于切割磨头半径的一半。由于机器人自身电机的振动，遇到了力的SD的高振荡。当钻头与硬脑膜接触时，由于其阻尼特性，该振荡急剧下降至接近0牛顿（N）。由于钻头的钝头形状，切割钻头可以与硬脑膜保持长时间接触而不会损坏硬脑膜。机器人根据遇到的阻力平稳地移动磨头。结论：该研究报告了耳神经外科手术中功能性机器人铣削程序的首次开发，该程序具有基于力的速度控制。未来的计划包括实施基于超声的局部导航和机器人乳突切除术。
Objective. In some surgical specialties (eg, orthopedics), robots are already used in the operating room for bony milling work. Otological surgery and otoneurosurgery may also greatly benefit from the enhanced precision of robotics. Study Design: Experimental study on robotic milling of oak wood and human temporal bone specimen. Methods. A standard industrial robot with a six-degrees-of-freedom serial kinematics was used, with force feedback to proportionally control the robot speed. Different milling modes and characteristic path parameters were evaluated to generate milling paths based on computer-aided design (CAD) geometry data of a cochlear implant and an implantable hearing system. Results. The best-suited strategy proved to be the spiral horizontal milling mode with the burr held perpendicular to the temporal bone surface. To reduce groove height, the distance between paths should equal half the radius of the cutting burr head. Because of the vibration of the robot's own motors, a high oscillation of the SD of forces was encountered. This oscillation dropped drastically to nearly 0 Newton (N) when the burr head made contact with the dura mater, because of its damping characteristics. The cutting burr could be kept in contact with the dura mater for an extended period without damaging it, because of the burr's blunt head form. The robot moved the burr smoothly according to the encountered resistances. Conclusion: The study reports the first development of a functional robotic milling procedure for otoneurosurgery with force-based speed control. Future plans include implementation of ultrasound-based local navigation and performance of robotic mastoidectomy.