Application Of Robot With Six Degrees Of Freedom In Orthopedic Surgery

With the rapid development of the computer technology, medicine in the 21 st century has entered the digital age. Digital orthopaedice is an interdiscipline of the traditional osteology and computer technology, researches related to the digital orthopaedice are also a hot field about digital medical researches in recent years, and the orthopedic surgical robot is one of the researches.In the traditional orthopedic surgery, a surgical plan is mainly formed by simulating the surgery in the brain by a doctor, and the implementation of the surgery is also depended on the doctor’s subjective impression on the surgical plan. As an orthopedic surgery is usually relevant to very complex geometry structure change and it is difficult to clearly imagine complex changes of geometric and topological structures of intra-operative bone forms in the brain, surgeons’ clinical experience and skills become key factors influencing the surgery quality.Bones can be seen as rigid bodies as being rigid and more easy to fix. Besides, as bone tissues and the surrounding tissues thereof have big difference, and images of the bone tissues in CT and X-ray and those of the surrounding tissues in CT and X-ray have big difference, various digital processing can be carried out easily, and the registration is facilitated during the surgery. By virtue of the favorable factors, the orthopedic surgical robot becomes one of hot spots in the surgical robot research, and great progress has been achieved.Aiming at the actual needs of orthopedic surgery, this paper selects a UR10 mechanical arm as a hardware platform, and an orthopedic surgical robot control system is developed based on the hardware platform. The four following aspects of works have been completed: an orthopedic surgical robot three-dimensional interactive system based on VTK; a surgical robot operation control system which has the functions such as inching control and track control; the 3D model importing and path planning before the surgery; the coordinate registration and real-time tool path control during operation.Finally, the main functions of the system are demonstrated through a simulation example. The system meets the design requirements and expected requirements.