Minimally invasive positioning robot system of femoral neck hollow screw implants based on x-ray error correction
Minimally invasive positioning robot system of femoral neck hollow screw implants based on x-ray error correction
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基于X射线误差修正的股骨颈空心螺钉植入物微创定位机器人系统
DOI：
10.1117/12.2267286
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发表时间：
2017
期刊：
影响因子：
--
通讯作者：
Li
中科院分区：
文献类型：
--
作者：
Yun;Yingdong Xu;Lei Hu;Na Guo;Li
针对股骨颈传统手术失败率高、辐射量大、定位精度差等问题，在研究X射线透视原理和6自由度系列机器人UR（Universal Robots）运动原理的基础上，研制了一套基于X射线误差校正的股骨颈空心螺钉植入物定位机器人系统。与计算机辅助导航系统相比，该系统具有定位精度高、操作简单等优点。另外，该系统不需要额外的视觉跟踪设备，可以大大降低成本.在手术过程中，医生可以根据患者的正侧位X线图像规划手术路径和标记针的姿势。然后根据标记线的实际长度与图像上的长度之比计算出像素比。然后，根据操作路径与导向销的相对位置以及导向销与UR机器人的固定关系，计算出UR机器人的运动量。然后控制UR将定位导销驱动到操作路径上，此时检查定位导销与规划路径是否重合，如果不重合，重复前面的步骤，直到定位导销与规划路径重合，最终完成定位操作。此外，为了验证定位精度，本文针对30例骨实验模型进行了误差分析。结果表明，UR机器人的运动精度为0.15mm，整体误差精度在0.8mm以内。为了验证该系统的临床可行性，本文对三个临床实验病例进行了分析。在整个定位过程中，X线照射时间为2-3s，透视次数为3-5次，整个定位时间为7- 10 min。结果表明，该系统能准确完成股骨颈定位手术。同时，它可以大大减少医务人员和患者的X射线辐射。综上所述，该方法具有重要的临床应用价值。
Aiming the high failure rate, the high radiation quantity and the poor positioning accuracy of femoral neck traditional surgery, this article develops a set of new positioning robot system of femoral neck hollow screw implants based on X-rays error correction, which bases on the study of x-rays perspective principle and the Motion Principle of 6 DOF(degree of freedom) series robot UR(Universal Robots). Compared with Computer Assisted Navigation System, this system owns better positioning accuracy and more simple operation. In addition, without extra Equipment of Visual Tracking, this system can reduce a lot of cost. During the surgery, Doctor can plan the operation path and the pose of mark needle according to the positive and lateral X-rays images of patients. Then they can calculate the pixel ratio according to the ratio of the actual length of mark line and the length on image. After that, they can calculate the amount of exercise of UR Robot according to the relative position between operation path and guide pin and the fixed relationship between guide pin and UR robot. Then, they can control UR to drive the positioning guide pin to the operation path. At this point, check the positioning guide pin and the planning path is coincident, if not, repeat the previous steps, until the positioning guide pin and the planning path coincide which will eventually complete the positioning operation. Moreover, to verify the positioning accuracy, this paper make an errors analysis aiming to thirty cases of the experimental model of bone. The result shows that the motion accuracy of the UR Robot is 0.15mm and the Integral error precision is within 0.8mm. To verify the clinical feasibility of this system, this article analysis on three cases of the clinical experiment. In the whole process of positioning, the X-rays irradiation time is 2-3s, the number of perspective is 3-5 and the whole positioning time is 7-10min. The result shows that this system can complete accurately femoral neck positioning surgery. Meanwhile, it can greatly reduce the X-rays radiation of medical staff and patients. To summarize, it has a significant value in clinical application.
数据显示。
影响因子：
4.4
作者：
Ledolter,Johannes;Gramlich,OliverW;Kardon,RandyH
通讯作者：
Kardon,RandyH