摘要
为解决医生临床手工开展髋臼旋转截骨术的难点,基于多轴机械臂设计了一种髋臼旋转截骨手术机器人。在设计中,推导了球形摆锯非实体旋转中心点与机械臂、光学导航三者的手眼标定矩阵方程。应用所设计的髋臼旋转截骨手术机器人对六组髋臼模型进行旋转截骨试验,统计所切割髋臼半径精度、光滑度、圆球率,确认髋臼旋转截骨手术机器人可以用于临床手术。所采用的球形摆锯非实体旋转中心点标定方法还适用于其它类型的手术机器人。
In order to solve the difficulty for the doctor to manually carry out acetabular rotation osteotomy in clinic,an acetabular rotating osteotomy surgical robot was designed based on a multi axis mechanical arm.In the design,the hand eye calibration matrix equations of the non solid rotation center point of the spherical pendulum saw,the mechanical arm and the optical navigation were derived.Using the designed acetabular rotating osteotomy surgical robot to perform rotating osteotomy experiments on six groups of acetabular models,statistics of the cutting acetabular radius accuracy,smoothness,and roundness rate confirm that the acetabular rotating osteotomy surgical robot can be used in clinical operation.The adopted non solid rotation center point calibration method in spherical pendulum saw is also suitable for other types of surgical robots.
作者
吴炳坚
朱振中
潘昕荻
Wu Bingjian;Zhu Zhenzhong;Pan Xindi
出处
《机械制造》
2021年第6期52-56,61,共6页
Machinery
关键词
机械臂
髋臼
截骨
手术机器人
Mechanical Arm
Acetabular
Osteotomy
Surgical Robot
作者简介
吴炳坚(1981-),男,工程师,主要研究方向为手术机器人设计。
