High Precision, Low X-Ray Radiation Exposure and Minimally Invasive Surgical Robot and Medical CAD/CAM system

研究结果如下：(1)计算机集成膝关节置换术系统的技术指标确定在借鉴以往有关安全性的研究成果的基础上，采用了故障安全机制。采用信息表示和机械设计的方法，提高了系统的可操作性。(2)通信协议的确定确定了模块间的通信协议。骨切削机器人的设计与制造通过考虑系统的空间布局、助手、床、星光灯、手术室内的X光设备等，确定了骨切削机器人的机构。结构的确定是考虑了结构的刚度和外力。腿部夹具系统需要一个机械夹具将腿部刚性固定，以实现高精度的切割。在设计中考虑了可灭菌性和对X线片的影响。(5)开发了用于确定种植体位置、大小和型号的预计划系统软件系统。(6)手术中接口软件实现了手术中接口软件。外科医生可以在手术的任何阶段进行干预，并具有很高的灵活性。(7)配准和CAM系统计算了预先规划的骨骼三维模型与术中X线图像的相关性。将刀具路径信息发送给系统中的机器人控制器。(8)将系统集成和上述评价组件集成为一个完整的系统。使用身体进行了评估实验。

The acquired results are as follows :(1)Specification determination of a computer-integrated knee arthroplasty systemFail-safe mechanism was adopted based on the knowledge from previous studies concerning safety. Methods of information presentation and mechanical designs were introduced to improve the maneuverability(2)Determination of communication protocolA communication protocol among modules was determined. In particular, standardization of communication protocol in a networked medical system was also included as a target.(3)Design and production of a bone cutting robotThe mechanism of the bone cutting robot was determined by considering the space layout of this system, assistants, bed, astral lamp, X-ray equipment in operation room. The structure was determined by considering the rigidity, and d.o.f. The middle part was placed between clean and dirty parts.(4)Leg fixtureA mechanical jig to fix the leg rigidly is required in the system to realize the high precision cutting. In the design, sterilizability and influence to radiography were taken into account.(5)Development of a preplanning systemA software system to determine the position, size and model of an implant was developed.(6)Intra-operational interface software for surgeonThe intra-operational interface software was implemented. A surgeon can intervene at any phase of operation and operate it with high flexibility.(7)Registration and a CAM systemCorrelation of preplanning 3D model of bone and intraoperational X-ray image was calculated. The tool path information was sent to robot controller in the system.(8)Integration of the system and the evaluationComponents mentioned above were integrated as a total system. Evaluation experiments using a cadaver were performed.