【摘要】 将机器人引入传统的全膝置换手术中 ,介绍了机器人辅助全膝置换手术系统硬、软件的基本结构 .从术前模型的建立 ,术中数据的提取 ,完成术前和术中图像的配准 ,最后输出为机器人轨迹规划和控制这一过程的技术细节 ,对该系统进行讨论 ,并通过应用 ICP( Iterative Closest Point)算法的反复迭代特性 ,使系统的实际响应与预期响应逼近 .试验证明该系统是可行的更多还原

【Abstract】 Robot assisted surgery is becoming a widely popular technology and is now entering the total knee replacement. The research work of this paper included building the basic hardware and software structure of the robot system for total knee replacement, making the blocks of preoperative model, the registration of different coordinate frames, control and communication, using ICP(Iterative Closest Point)algorithm to perform the registration process, proceeding system’s preliminary test, and realizing system’s basic demands.更多还原