Research And Realization Of Surgical Robot Navigation Technology For Skull Base And Lateral Deep Face

The complexity of anatomy and the concentration of the blood vessels and nerves in skull base and lateral deep face make it difficult and risky for the puncture surgery to damage the important blood vessels and nerves,leading to more postoperative complications.With the development of minimally invasive surgery,puncture surgery has become an effective treatment method of cranio-maxillofacial regional tumor for avoiding the traditional incision surgery,reducing pain and risk of surgery,expanding the adaptability.However,the puncture surgery needs the higher skill level for doctors,and the large risk of doctor's hand operation is a greater risk.In order to solve the problem of low precision and difficult operation in cranio-maxillofacial puncture surgery,a skull base and lateral deep face puncture robot system is developed to assist the surgeon to complete the biopsy of the skull base tumor,radioactive particle implantation of the skull base and lateral deep face tumour and radiofrequency thermocoagulation of the trigeminal neuralgia.In this paper,the research of navigation system of skull base and lateral deep face surgical robot focus on the motion performance of the surgical robot,the space registration and real-time navigation of the robot system,the motion control based on the navigation system,and the related experimental verification.Specific content is as follows:Frist,through the analysis of the clinical needs of the three kinds of surgery and combination with image,navigation,robot and other related technologies,we develop a set of cranio-maxillofacial puncture robot system and formulate the corresponding surgical methods and processes.Second,based on the structure design of robot manipulator,actuator and universal interface,the motion performance of the robot is analyzed.Based on the D-H parameter method,the robot kinematics models is constructed and the forward and backward kinematics of the robot are analyzed.Based on the Monte Carlo method,the motion space of the robot is analyzed.The vector Jacobi matrix is solved by vector product method,differential transform method and vector product differential transformation method.The trajectory planning of robot joint space is analyzed by the linear interpolation method of parabolic transition.In addition,the dynamics analysis and simulation are carried out.Third,based on the analysis of navigation registration and positioning,the working flow of the navigation system of surgical robot is designed.The paper presents a “kinematics + optics” hybrid and real-time pose navigation control method,completes the ICP registration algorithm based on quaternion,realizes the spatial transformation between optical navigation system,3D reconstruction medical image system and robot system.Based on the real-time data collection of optical navigation system,the real-time navigation technique applied in the operation robot system is studied,realizing the intraoperative real-time tracking of the puncture,robot body and patient.In addition,it analyses navigation error,establishes navigation space error model to provide the theoretical support for the error improvement of robot.Fourth,based on the optical navigation system,a motion control system of the cranio-maxillofacial puncture robot based on the distributed control structure of CAN bus is established.From the human interaction and surgical procedures,this paper studies the master-slave control system,creates master-slave model,analyses the control strategies and workspace mapping.The automatic control of the robot based on the closed-loop navigation system is studied to realize the accurate positioning and puncture of the robot system.Finally,based on the analysis of the navigation system,an experimental system is set up,and the functions and the whole navigation system flow are verified experimentally.Robot navigation system functional verification includes robot calibration experiment,navigation positioning experiment,robotic end-effector control experiment,master-slave operation experiment,navigation registration experiment and navigation positioning error experiment.In addition,the model experiments and the corpse-head experiments were performed on the whole robot system for three different surgeries.