【摘要】 髓内钉远端孔锁定是目前长骨骨折内固定手术中的难题.介绍了一种机器人外科手术系统及作为其核心技术的图像导航方法.首先对X光图像进行畸变矫正和对比度增强,然后提出一种基于几何模型的对准方法,得到一条能够穿过髓内钉远端孔的三维路径,从而引导串联机器人锁定髓内钉.系统还包括虚拟手术仿真子系统和遥操作子系统,可以模拟、监控手术过程,并可使医生远距离操作系统完成手术.实验表明,该系统能成功实现用机器人锁定髓内钉.并且与传统手术方法相比,具有较高的定位精度和稳定性,可以大大减少手术所需时间,降低医生所受辐射剂量.更多还原

【Abstract】 In long bone fracture therapies performed by robotic surgical systems,the locking of intramedullary nails has presented a major challenge.To improve results,an orthopedic robot system and image navigation technology were studied.After correcting the distortion of X-ray images,the local contrast was enhanced,and a targeting method was proposed that is based on a geometric model to get a 3D path in order to guide the series robot to lock the intramedullary nail. Additionally,this system includes virtual surgery simulation software and a tele-operation subsystem,which can monitor the surgery process and allow surgeons to control robots remotely.Experimental results indicate this system has sufficient positioning accuracy and stability,and can dramatically decrease operating time and radiation doses.更多还原