一种新型经皮椎体成形术混合机器人的设计

2019 4th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2019-11-01 DOI:10.1109/ICRAE48301.2019.9043802

Pengfei Cheng, Yongyi He, Xiangwen Fan, Baoquan Xin

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引用次数: 1

摘要

传统的经皮椎体成形术(PVP)由于路径规划不准确，会对椎体骨折周围的组织或神经造成大量的辐射和侧损伤。为了提高PVP的治疗效率，本文提出了一种新型的混合机器人，以帮助外科医生快速定位病变并给出合适的路径规划。该混合机器人由三坐标平台和Stewart平台组合而成。介绍了机器人的逆运动学和路径规划方法。进行了一组实验来评估其功能。结果和分析表明，在规定的时间内，在适当的控制下，机器人可以准确地引导PVP操作中的穿刺，避免了额外的调整。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Design of A Novel Hybrid Robot for Percutaneous Vertebroplasty

The traditional percutaneous vertebroplasty (PVP) could induce massive radiation and side injuries to the tissues or nerves around the fractured centrum for an inaccurate route plan. In this paper, a novel hybrid robot is proposed to assist the surgeon locate the lesion and give appropriate route plan fast to improve the treatment efficiency of PVP. This hybrid robot has been formed by a combination of a three-coordinate platform and a Stewart platform. Inverse kinematic and route plan method of the robot was introduced. A set of experiments was conducted to evaluate the functioning. The results and the analysis showed that the robot could guide the puncture in PVP operation accurately to avoid the extra adjustment under proper control within specified time.

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2019 4th International Conference on Robotics and Automation Engineering (ICRAE)

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