CAJ | 학술논문

针对脊柱手术中的椎弓根钉内固定术，为克服医生操作手术时定位精度难以保证、长时间手术易疲劳等问题，设计了一套脊柱手术机器人系统用于辅助实施椎弓根钉内固定术。机器人为5自由度，充分考虑手术机器人对安全性和工作空间有效覆盖的要求，进行了构型设计，并完成了相应的机器人运动学分析。控制系统是由图像导航下的主动控制和基于力传感器的被动拖拽控制两个模式进行控制。主动控制下，医生通过导航系统提供最优钉道的精确位置信息，机器人根据医生的规划路径自主到达手术点；被动力拖拽控制基于导纳控制原理对医生作用在机器人末端执行器的操作力进行映射，并以此形成跟随拖动动作的机器人运动控制指令。针对力拖拽控制的实验验证了机器人在被动拖拽控制模式下能够柔顺地跟踪医生的操作动作。
침대척주수술중적추궁근정내고정술，위극복의생조작수술시정위정도난이보증、장시간수술역피로등문제，설계료일투척주수술궤기인계통용우보조실시추궁근정내고정술。궤기인위5자유도，충분고필수술궤기인대안전성화공작공간유효복개적요구，진행료구형설계，병완성료상응적궤기인운동학분석。공제계통시유도상도항하적주동공제화기우력전감기적피동타예공제량개모식진행공제。주동공제하，의생통과도항계통제공최우정도적정학위치신식，궤기인근거의생적규화로경자주도체수술점；피동력타예공제기우도납공제원리대의생작용재궤기인말단집행기적조작력진행영사，병이차형성근수타동동작적궤기인운동공제지령。침대력타예공제적실험험증료궤기인재피동타예공제모식하능구유순지근종의생적조작동작。
In the vertebral pedicle screw fixation surgery, to overcome the low positioning accuracy of manual operation and the fatigue during long time surgery, a spine surgery robot system used to assist the surgeons in the vertebral pedicle screw fixation surgery is performed. The robot has a configuration of five Degrees of freedom(Dofs). It is designed with full account of surgical safety and the effective coverage of operation space. Also, its kinematics is completely analyzed. The control system of the robot includes the active control mode based on the image navigation, and passive control mode based on a 6 Dofs force/torque sensor. In the active control mode, the doctor plans optimized location information for the screw path through the navigation system, and then the robot automatically locates the surgical point according to the planned path;passive control mode is based on admittance control principle, which maps the drag force acting on the end-effector to the motion of the robot. So that the robot moves following the drag action. The force drag control experiments verify the effectiveness of the passive control mode.