Research On System Calibration And Trajectory Planning Of Laser Osteotomy Surgical Robot

Orthopedic surgery is one of the most common types of surgery,which has many operation types,difficult operation,and high demand.In particular,such as surgery of the jaw or tibia is often need through the separation of the bone structure,insufficient to reposition and repair to achieve correct development,eliminate the effects of treatment for the necrotic tissue,cosmetic surgery.In this kind of osteotomy surgery,in addition to dealing with the complex anatomical environment of the operative area,doctors also need to overcome the problem of unsuitable osteotomy tools,which increases the difficulty of surgical operation and raises the technical threshold of this kind of surgery.In recent years,orthopedic surgical robots with high precision and good maneuverability have been gradually applied into clinical surgery.They can not only undertake part of the work for doctors in the process of surgery,reduce the psychological pressure of doctors,but also bring more intelligent and accurate services for patients in clinical treatment.Especially in complex osteotomy surgery,high precision links such as positioning,trajectory planning and osteotomy can all be completed autonomously by the robot system.Therefore,the robot assisted orthopedic surgery will provide important medical value for the treatment of bone tissue.In this context,the following studies were completed:(1)Combined with the clinical needs of orthopedic surgery,a general laser osteotomy robot system was built by integrating the main modules of preoperative design,intraoperative navigation,intraoperative execution and laser tools,and the workflow of the robot osteotomy surgery was designed based on the specific surgical application cases.By analyzing the system structure and kinematics solution of the osteotomy surgical robot,the necessary data information for system calibration and trajectory planning were obtained.(2)In view of the particularity of laser osteotomy tools,a non-contact tool calibration method was proposed by analyzing the establishment process of spatial mapping relationship of each part,and an automatic calibration method of robot system was designed in combination with the existing hand-eye calibration process of navigation system to meet the needs of the rapid-ness of surgery.Experimental results show that the proposed calibration method has high precision,efficiency and stability.(3)According to the characteristics of the robot assisted bone cutting space trajectory,a motion trajectory planning method for surgical robot was proposed:The osteotomy curve extracted from the three-dimensional image space was decomposed into multiple discrete target pose,and the ideal motion trajectory was found to control the end of the robot to pass through the target point in order.The experimental results showed that the proposed trajectory planning method can effectively improve the continuity,stability and safety of the movement process of surgical robot.(4)An experimental study of laser osteotomy robot system was carried out based on the application of orthognathic osteotomy.Based on the experimental platform of the laser osteotomy surgical robot,the operating process of the laser osteotomy surgical robot system was developed by analyzing the specific steps of clinical surgery.The 3D printed skull model was used as the target of osteotomy to build the experimental environment of simulated surgery.By simulating the complete clinical operation process of robot-assisted orthognathic surgery,the effectiveness and accuracy of the system were verified.