Research On An Image-guided Surgical Robot For Bone Tumor Resection

Surgical robots’ application on orthopedics is one of the best prospective technologies.With the rapid-development of X-rays,CT and other image technology,it becomes much easier to diagnose orthopedics diseases,and followed this advantage comes the treatments of various orthopedics diseases.Recently,researchers have turned to develop different kinds of surgical robots to satisfy the needs of the treatments of various kinds of orthopedics diseases.However,what is not yet been taken into consideration is the specific surgical robot which aims at bone tumor resection.Utilizing robots to perform the bone tumor surgery has the advantages of minimally invasive,easing the pain for the patients,as well as minimizing the area of wound for the operation which results in reducing the scars after operation.This thesis studies on the core technologies of an image-guided surgical robot for bone tumor resection,which can be shown as follows:This thesis first proposes to perform bone tumor surgery by means of image-guided surgical robots.Studies focusing on robotic bone tumor surgery are limited,and there is no research institute conducting the research on bone tumor surgical robots.Thus,the author’s laboratory and clinicians jointly proposes to utilize robots to perform bone tumor resection surgery,taking advantage of the cooperation with medical professionals.This thesis implements surgical instruments’calibration.To calculate the relationship of surgical instrument coordinate and the end flange of the robot coordinate,we use the four points method.In this case,the transform relationship between surgical instruments and the end flange of the robot can be got,which can be combined with the kinematic model of the robot to get the transform relationship between base coordinate of the robot and surgical instruments’tip coordinate.The calibration lays a foundation for the control of the robot system.This thesis studies on the two-step registration method of the image space and the robot space.The precondition of realizing image-guided surgical robots is to build the transform relationship between the image space and the robot space,which is realized through first employing the method of generalized inverse matrix to do the coarse registration,then using ICP registration to determine the second-step registration matrix.And the registration error is analyzed.The planning of the surgical routs is also studies in this thesis.To satisfy the needs of bone surgical robots,the planning of the surgical path on the image space-which can be done by doctors-is needed.This thesis,first adopts the methodology of spline curve to fit the surgical path curve.Then,in consideration of the problem of the surgical instruments’radius in the process of surgery,combined with the centroid of surgical path,the surgical path was offset to satisfy the specific need of bone tumor resection surgery.Finally,a series of experiments were conducted and the corresponding algorithms mentioned above were integrated to the platform of 3D slicer.The surgical robot system was set up,which consists of user interface,communication module,image guidance and surgical instruments real-time visualization module.Then,the in vitro experiments were performed in hospital.And this thesis analyzes the deviation in the experiments,and the outcome shows the feasibility of applying robots to perform bone tumor resection surgery.