Control Strategy and Experiments for Robot Assisted Craniomaxillofacial Surgery System
Control Strategy and Experiments for Robot Assisted Craniomaxillofacial Surgery System
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DOI：
10.1155/2019/4853046
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发表时间：
2019-03
影响因子：
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通讯作者：
Tengfei Cui;Yonggui Wang;X. Duan;Xiaodong Ma
中科院分区：
文献类型：
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作者：
Tengfei Cui;Yonggui Wang;X. Duan;Xiaodong Ma
由于颅颌面部解剖结构复杂，受术野和手术器械的限制，目前的手术风险极高，实施难度大。穿刺活检、消融和近距离放射治疗已成为疾病诊断和治疗的重要手段。为此，研制了颅颌面外科手术机器人系统，实现了穿刺针的精确定位和手术操作的自动化。针对不同的操作过程，分别采用主从控制和基于导航系统的“运动学+光学”混合自动运动控制，以提高针的定位精度。此外，还进行了运动学仿真、运动学参数辨识、定位精度实验（0.56 ± 0.21 mm）和体模实验（活检、射频、1.42 ± 0.33 mm、1.62 ± 0.26 mm和1.41 ± 0.30 mm，和幻影实验的近距离放射治疗）验证了混合自动控制方法的可行性，并对手术机器人系统的功能进行了评价。
Since the intricate anatomical structure of the craniomaxillofacial region and the limitation of surgical field and instrument, the current surgery is extremely of high risk and difficult to implement. The puncturing operations for biopsy, ablation, and brachytherapy have become vital method for disease diagnosis and treatment. Therefore, a craniomaxillofacial surgery robot system was developed to achieve accurate positioning of the puncture needle and automatic surgical operation. Master-salve control and “kinematic + optics” hybrid automatic motion control based on navigation system, which is proposed in order to improve the needle positioning accuracy, were implemented for different processes of the operation. In addition, the kinematic simulation, kinematic parameters identification, positioning accuracy experiment (0.56 ± 0.21 mm), and phantom experiments (1.42 ± 0.33 mm, 1.62 ± 0.26 mm, and 1.41 ± 0.30 mm for biopsy, radiofrequency, and brachytherapy of phantom experiments) were conducted to verify the feasibility of the hybrid automatic control method and evaluate the function of the surgical robot system.