【摘要】 针对当前全膝置换手术机器人存在的占用手术空间大、术中患肢不能移动等问题,设计了一套新型的机械手结构,包括可调式的支撑臂、固定远端股骨的骨夹以及伺服电机驱动机械臂,并在实验室中搭建了机器人辅助全膝置换手术系统.实验证明该结构不仅彻底地解决了困扰传统机器人辅助手术中患者腿部的固定装夹问题,而且整个系统结构紧凑,大大方便了医生的手术干预,为机器人辅助膝关节手术的后续研究奠定了基础.更多还原

【Abstract】 Current surgical robot systems for total knee replacement(TKR) unfortunately occupy a large space in operating room and prohibit the flexible movement between patient’s femur and robot. A small occupancy robot for TKR surgery was developed, which consists of three components: articulated manipulator, bone clamp, and mechanical support arm. A robotic surgery system for TKR was built in laboratory. The performance of prototype shows that the compact mechanism can solve the above problem absolutely and is convenient to surgeons.更多还原