机器人2018，Vol.40Issue(1)：64-71,80,9.DOI:10.13973/j.cnki.robot.170221
颅颌面外科手术机器人空间配准及实验
Spatial Registration of a Cranio-maxillofacial Surgery Robot and Its Experiments
摘要
Abstract
Cranio-maxillofacial region is of a complex structure, its surgery is of high-risk, and therefore it demands a high accuracy. For this reason, a set of cranio-maxillofacial surgery robot system is developed. Firstly, a spatial registration method of the cranio-maxillofacial surgery robot based on optical localization is proposed and established, to complete the spatial registration of the robot system efficiently and accurately. And the coordinate system transformation between differ-ent subsystems of the robot is realized by the spatial registration method. Then, the matrix conversion between point sets is realized by the quaternion based iterative closest points registration algorithm. The verification experiments of registration accuracy and positioning accuracy are carried out respectively, as well as the model and cadaver puncture positioning exper-iments of trigeminal radiofrequency thermocoagulation, based on the spatial registration of the medical image, the robot and its each subsystem. The average registration errors of registration accuracy verification experiment are less than 0.75 mm. The average error of the positioning accuracy verification experiment is 0.56 mm. The successful rate of puncture is 100％in model experiments, and it is 95％in cadaver experiments. The comprehensive experimental results show that the spatial reg-istration method is of a high registration accuracy and a certain feasibility, which meets the needs of the cranio-maxillofacial surgery robot system.关键词
手术机器人/颅颌面外科/空间配准/光学定位Key words
surgery robot/cranio-maxillofacial surgery/spatial registration/optical localization分类
信息技术与安全科学引用本文复制引用
段星光,高亮,李建玺,王永贵,李浩源,郭艳君..颅颌面外科手术机器人空间配准及实验[J].机器人,2018,40(1):64-71,80,9.基金项目
国家自然科学基金(U1613221) （U1613221）
北京市科技计划(Z161100001516011). （Z161100001516011）
