计算机辅助骨科手术机器人技术发展及应用综述

Review on the Development and Application of Computer Assisted Orthopedic Surgery Robots

摘要:

肌肉骨骼系统在人体运动中起着至关重要的作用,这个系统的疾病通常会导致严重的长期残疾,是影响人类健康和活动能力的关键因素。计算机辅助骨科手术机器人系统已成为临床骨科中最重要和最具挑战性的系统之一,因为它们能够使用现代临床导航系统和机器人系统精确治疗肌肉骨骼疾病,具有有效降低辐射、减少医生体力等优势,成为解决传统骨科疾病的最佳选择之一。通过对机器人在骨科手术中的应用分析,重点介绍了骨科机器人的机构设计、导航技术、机器人控制、交互技术以及骨-机器人连接技术。在导航技术中,利用CT扫描设备获取图像和光学跟踪装置进行导航已成为主流。在机器人控制和交互技术中,既有遥操作,也有自动控制。借助文献梳理,进一步讨论了目前计算机辅助骨科手术机器人系统存在的问题及其未来发展。

Abstract:

Diseases of the musculoskeletal system, which plays a crucial role in human movement, often lead to severe long-term disability and are key factors affecting human health and mobility. Computer assisted orthopaedic surgery robot system has become the most important in clinical orthopaedics and one of the most challenging system, because they are able to use modern clinical navigation system and robot system accurate treatment of musculoskeletal disease, can effectively reduce the radiation, decrease the doctor physical advantages, become one of the best choice to solve the traditional orthopedic diseases. Through analyzing the application of robot in orthopedic surgery, the mechanism design, navigation technology, robot control, interaction technology and bone-robot connection technology of orthopedic robot are introduced emphatically. In navigation technology, the use of CT scanning equipment to obtain images and optical tracking devices for navigation has become the mainstream. In robot control and interaction technology, there are both teleoperation and automatic control. With the help of literature review, the existing problems and future development of computer-assisted orthopedic surgery robot system are further discussed.