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

获得的结果如下：(1)计算机集成的膝关节置换术系统的规格确定。基于以往关于安全性的研究知识，采用了fail -safe机制。(2)通信协议的确定。确定了模块间的通信协议。特别是，网络医疗系统中通信协议的标准化也被列为目标。(3)骨切割机器人的设计与制作，通过考虑该系统、助手、床、星灯、手术室x光设备的空间布局，确定了骨切割机器人的机构。结构的确定主要考虑刚度，中间部分置于清洁件和脏件之间。(4)支腿夹具系统中需要用机械夹具将支腿刚性固定，以实现高精度切割。在设计时，考虑了灭菌性和对射线成像的影响。(5)预规划系统的开发一个软件系统，用于确定种植体的位置、尺寸和模型。(6)外科医师术内接口软件实现术内接口软件。外科医生可以在手术的任何阶段进行干预，并且操作灵活。(7)配准与CAM系统，计算预规划骨三维模型与术中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)将系统与上述评价组件集成为一个整体系统。用尸体进行评价实验。

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.