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目的:基于现有的光学定位正颌外科导航手术的技术路线,建立并验证光学导航定位下机械臂辅助颅颌面骨畸形整复手术的技术路线。方法:(1)应用工业机械臂Motoman作为执行机构,并与现有导航系统实现整合;(2)按照术前规划,在导航下对颅骨模型进行截骨操作;(3)记录实验相关数据并进行误差分析。结果:自主算法实现了机械臂与导航系统的整合,并按照术前规划,顺利完成Le FortⅠ型截骨操作。机械臂末端执行器定位误差小于2mm,方位角度误差小于5°。结论:光学导航定位多自由度机械臂辅助颅颌面骨畸形整复手术的技术路线得到验证,整合后的系统基本能够满足在医师现场监控下临床应用的要求。
OBJECTIVE: To establish and validate the technical route of arm-assisted craniomaxillofacial bone deformity under optical navigation and positioning based on the existing optical alignment orthognathic surgery navigation route. Methods: (1) The industrial robot arm Motoman was used as the actuator and integrated with the existing navigation system; (2) osteotomies were performed under the guidance of the skull model according to the preoperative planning; (3) the experimental data Error analysis. Results: The autonomous algorithm realized the integration of the manipulator and the navigation system and successfully completed the operation of Le FortⅠ osteotomy according to the preoperative planning. Robot end effector positioning error is less than 2mm, azimuth error less than 5 °. CONCLUSION: The technical route of optical navigation and positioning multi-degree-of-freedom arm-assisted craniofacial and cranio-facial deformity reconstruction has been verified. The integrated system can basically meet the clinical application requirements under the supervision of physicians.