北京生物医学工程

天玑骨科手术机器人高精度工作区域研究

The high precision working area of Tianji orthopaedic robotic system

作者：范明星施崭张琦王令珑房彦名田伟

单位：北京积水潭医院脊柱外科（北京 100035） 首都医科大学燕京医学院（北京 101300） 通信作者：田伟。E-mail：tianwei_victor@163.com

分类号：R318.04 

出版年·卷·期（页码）：2022·41·3（266-270）

摘要：

目的研究天玑骨科手术机器人的高精度工作区域，提高机器人辅助手术精度。方法设置天玑骨科手术机器人的光学导航系统位置，使其与精度测试模型所处实验平面垂直距离保持为1.5m，以精度测试模型所处位置为工作区域中心O，建立以O点为原点的平面直角坐标系，在平面内缓慢移动精度测试模型，当其刚好不能被光学导航系统追踪时记为到达工作区域边界，记录边界范围。使用三坐标测量仪测量原点O与边界间不同位置点的机器人定位精度，并比较不同位置点间的精度差异。结果天玑骨科手术机器人在光学导航系统距离手术区域1.5 m时的工作区域为长1263 mm、宽878 mm的长方形。机器人在各象限中心点间的定位精度无统计学差异（P=0.13），但定位精度距离视野中心距离增加将导致定位精度降低（H=103.39，P<0.001），箱式图对比分析发现当操作距离距离视野中心距离大于400 mm时精度显著变差。结论天玑骨科手术机器人的工作区域为长方形，应尽量保持手术区域位于视野中心400 mm范围内，从而获得更稳定的手术精度。

Objective To explore the high precision working area of TianJi orthopaedic robotic system and improve the accuracy of robot assisted surgery. Methods We set the position of the optical navigation system of the orthopaedic robot to keep vertical distance from experimental plane where the precision testing model was located at 1.5 m. We marked the position of the precision testing model as point O, which was the center of the work area, and establish a plane rectangular coordinate system. Move the precision testing model in the plane, record the boundary of the working area and mark the boundary points. A three-coordinate measuring instrument was used to measure the accuracy of orthopaedic surgery robotic system at different measuring points in the working area and the accuracy was compared. Results The working area was a rectangular area with the length of 1263 mm and the width of 878 mm at 1.5 m away from the optical navigation system. There was no statistical difference in the accuracy of the orthopaedic robotic system among the center points of each quadrant (P=0.13), however, the accuracy was decreased with the increasing of distance away from the center point of the working area (H=103.39，P<0.001). Comparative analysis of box diagram showed that the accuracy were worse at 400mm away from the center point of the working area. Conclusions The working area of the Tianji orthopaedic surgical robot system is a rectangular area. To obtain more stable accuracy, more attention should be paid to keep the operation area within 400mm of the working area.

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