中国医学装备2026，Vol.23Issue(4)：26-31,6.DOI:10.3969/j.issn.1672-8270.2026.04.005
一种机器人辅助髋关节置换术中随动技术研究
Study on intraoperative motion-following technique of a robot-assisted THA
摘要
Abstract
Objective:To research,develop and verify a motion-following compensation technique of end-effector of surgical robot for joint,which aimed at the deviation of direction and depth of acetabular reamer caused by intraoperatively pelvic displacement during total hip arthroplasty(THA).Methods:A system consisted of a cart with robotic arm,a navigation cart[three dimension(3D)vision/navigation software],and a platform for patient(fixed device/pelvic marker).The relative pose of"tool-pelvis"was calculated,and the motion-following of end-effector was realized at the closed loop of Cartesian spatial error on the basis of real-time tracking of robot tool and pelvic volumetric position.Twenty pelvic models were simply randomized into a motion-following group and a non-motion-following group,with 10 cases in each group.Under perturbations of simulated pelvis,the difference between the terminal pose of acetabular reamer,and the pose of reposition based on the final posture of pelvis was recorded,and the displacement error(mm)and angular error(°)were extracted.The above indicators were compared between two groups.Results:The displacement error of motion-following group was(1.18±0.43)mm,and that of the non-motion-following group was(3.76±1.11)mm.The angular error of motion-following group was(0.84±0.32)°,and that of non-motion-following group was(3.21±1.03)°.The differences both of displacement error and angular error between two groups were statistically significant(t=6.857,6.941,P<0.001).Conclusions:By real-time tracking of relative pose and motion-following compensation,the system can stably control the drift distance of acetabular reamer pose at at the millimeter level,and control the drift angle of the posture at<1° when the pelvis occurred movement,which can significantly reduce the dependency for rigid fixation of pelvis,and enhance the precision,accuracy and consistency of THA acetabular acetabular reamer.It has potential of further conducting transformation in clinical practice.关键词
关节手术机器人/髋关节置换/随动/精准高效Key words
Joint surgical robot/Total hip arthroplasty/Real-time motion tracking/Precision and efficiency分类
医药卫生引用本文复制引用
李自汉,孔柯瑜,李慧武,翟赞京,李大江,邵辉..一种机器人辅助髋关节置换术中随动技术研究[J].中国医学装备,2026,23(4):26-31,6.基金项目
工业和信息化部、国家卫生健康委2024年高端医疗装备推广应用项目(2024TGYY29) （2024TGYY29）
上海市2025年度科技产业高质量发展计划"生物医药创新发展"项目(25S11901800) （25S11901800）
上海市东方英才项目(拔尖项目)(BJWS2024020) Ministry of Industry and Information Technology&National Health Commission of the People's Republic of China,2024 Demonstration and Application Program for Advanced Medical Equipment(2024TGYY29) （拔尖项目）
Shanghai Municipal Science and Technology Commission,2025 High-Quality Development Program for Science and Technology Industry-Innovation and Development of Biomedicine(25S11901800) （25S11901800）
Shanghai Oriental Talent Program(Top Project)(BJWS2024020) （Top Project）
