Research On System Structure And HCI In Robot Assisted Surgical System

With the rapid development of medical theory, the surgery becomes more elaborate and complicated. The fast development of modern technologies such as computer, robot, electronic information, network communication has been widely applied in medical area. Robot assisted surgery (RAS) is increasingly adopted in modern clinic operation.Every year, thousands of patients suffering from joint disabilities, such as rheumatoid arthritis or osteoarthritis, undergo total knee replacement (TKR) surgery to recover normal activities and pain free life. Presently, the positioning of prosthetic components in the surgeries mainly depends on clinic experiences and special guide devices. To avoid limitations in jig-based TKR systems, robot/computer assisted surgeries are developed. With the aid of robot and expert system, better operation precision and surgical quality can be obtained.However, total knee replacement in classical robot assisted systems has the limitation of operational precision and requires twice surgery. Based on the concept of robot integrated surgery, robot assisted surgery system for total knee replacement (RASSTKR) is presented in the thesis to solve problems. In comparison with traditional methods, our model is a CT free system. The complicated positioning and registration problem does not exist in our system. Meanwhile, the error introduced by 3D reconstruction and registration is also omitted. More important, our method only needs one surgery instead of twice operations in classical robot system. Meanwhile, key technologies on system construction, positioning, tracking and calibration are fully studied. The main research work and contributions of the thesis are as follows:To better understand the background of RASSTKR, basic medical theories are introduced briefly, including the normal mechanical alignment, the stable structure and medical requirements in TKR. Meanwhile, femoral surgery, tibial surgery and patella surgery in the clinic operations are also discussed. With the help of above knowledge, our work on RASSTKR can be better understood.We will introduce the design principle and key technology of a robot-assist surgery system WATO which is made by ourselves. We will focus on the software and...