Research And Development Of Robotic Bone-Cutting System For Total Knee Replacement

Since the 20 th century,medical technology and medical equipment upgrade to medical surgery has made tremendous progress.The industrial technology has made rapid development and the reform of the medical surgery have been put on the agenda.The robot assisted surgery system in clinical medical treatment is used more and more widely,such as total knee arthroplasty and total hip arthroplasty assisted surgical robot system.However,such as ROBODOC,CASPAR,ACROBOT and other department of orthopedics surgery robot system,China and other developing countries have not been able to be promoted and popularized due to the high price of those systems.it is necessary to carry out the research and development of the bone-cutting system for the total knee in order to improve the research level of domestic surgical robot.Through the investigation of the total knee replacement robot system which has the following functions: the surgical robot and its entity control;the 3D model reconstruction based on CT image;the vision based navigation.The purpose of this study is to develop a set of robotic assisted total knee arthroplasty in the bone cutting system,which mainly includes the following aspects:Firstly,construction of the robot assisted bone cutting system mainly includes: 1)the important concept of knee replacement surgery in detail,such as the tibia and the femoral trunk,limb alignment,knee joint prosthesis;2)This paper briefly introduces the traditional methods of artificial knee replacement for the femoral and tibial osteotomy,which main purpose is to facilitate the subsequent chapters;3)It finish selecting the hardware of robot bone-cutting system for total knee replacement surgery,which mainly includes the bone cutting robot body,the depth vision sensor,and the selection of the robot end effector;4)The function modules of the software control system of the robot bone cutting system were analyzed and implemented.Secondly,this paper have discussed the principle and technology of bone cutting calibration in some detail: 1)It put forward specific methods of hand eye calibration of Xtion camera and Xtion camera reference coordinate system to the base of the robot calibration;2)It finish designing the visual positioning tool for the key points of femur and tibia;3)This paper introduces and realizes the 3D coordinate extraction algorithm of the marker and the probe mark;4)The femur and tibia coordinate system was established by using visual positioning and visual system.Then,motion planning and implementation of the manipulator were analyzed and realized: 1)Analysis and derivation of the forward and inverse kinematics of UR5 robot is analyzed and derived in detail;2)Using the probe to extract the key points of the femur and tibia to complete the modeling of the femur and tibia,so as to select the corresponding prosthesis;3)According to the cutting surface and the cutting method of different cutting surfaces to complete the trajectory planning of each cutting surface.Finally,Using the robotic bone cutting system to complete the bone cutting experiment: 1)Using ROS platform to complete the simulation of cutting action;2)Using robotic bonecutting system to complete The model of bone cutting experiment;3)The evaluation of the reconstruction of the lower limb force line and the evaluation of the bone cutting system.This paper made a comprehensive introduction to the TKA osteotomy surgery robot system,which was used to finish the experiment of the model of bone.The feasibility of the robotic system for total knee arthroplasty was verified,which mainly includes the feasibility of the calibration method of the femur and tibia,the feasibility and feasibility of the real-time tracking and positioning algorithm,the feasibility of the motion planning of the manipulator,and the feasibility of restoring the lower limb force line.