中国医疗设备2025，Vol.40Issue(6)：11-15,5.DOI:10.3969/j.issn.1674-1633.20241061
手术机器人患者运动跟随性能评价研究
Study on the Evaluation of Patient Motion Tracking Performance of Surgical Robots
摘要
Abstract
Objective To discuss the evaluation methods of patient tracking performance of surgical robots,analyze the sources of patient movement following deviation based on actual measurements analyse,and solve the measurement problem of this index.Methods A linear motion generating unit was designed which can generate linear reciprocating motion to simulate patient movement.The non-contact spatial position measurement device was used to simultaneously collect the spatial coordinates of the motion generating unit and the robotic arm,and the movement following deviation of the robotic arm in different vector directions during the following process was analyzed.Results This research employed three methods to evaluate the robot's following performance,the results indicateed that maximum deviations often occured at peak velocity moments;following motion was prone to jitter during movement reversals;the direction of following motion deviations primarily originated from the direction of motion.The measurement and analysis of patient follow-up performance were achieved.Conclusion The design of the experimental plan can fully simulate the clinical application status,and the measurement of this indicator can simultaneously pay attention to changes in the direction of movement,position of non-movement direction and posture.关键词
手术机器人/患者跟随/性能评价/导航定位Key words
surgical robots/patient tracking/performance evaluation/navigation positioning分类
预防医学引用本文复制引用
孟祥峰,杨辰旭,王浩,李澍..手术机器人患者运动跟随性能评价研究[J].中国医疗设备,2025,40(6):11-15,5.基金项目
国家重点研发计划(2022YFC2409604). （2022YFC2409604）
