北京生物医学工程

脊柱导航辅助机器人技术的现状及远期展望

Current status and long-term prospects in spinal navigation robot technology

作者：田伟范明星刘亚军

单位：                      北京积水潭医院脊柱外科（北京100035）        

关键词：椎弓根螺钉内固定；导航；机器人技术；计算机辅助手术

分类号：

出版年·卷·期（页码）：2014·33·5（527-531）

摘要：

椎弓根螺钉内固定技术是脊柱外科固定技术的核心。自1985年机器人PUMA 200参与完成了历史上第一台机器人辅助手术以来［1］，已有18款脊柱外科领域相关的辅助机器人出现。本文在概述传统椎弓根螺钉内固定技术的基础上，首先分析了导航辅助机器人辅助椎弓根螺钉置入技术的重要性。其次，比较了串联式及并联式脊柱导航辅助机器人各自的特点，即串联式脊柱导航辅助机器人结构简单、控制简单、灵活性高、运动空间大，而并联式机器人具有体积小、定位精度高、状态维持性好等优点。最后，提出了脊柱导航辅助机器人技术现阶段的问题，并展望了该技术的发展前景。

Pedicle screw fixation technique is a key technique in spinal surgery department. Since the first recorded robot assisted procedure took place in 1985 by PUMA 200［1］, there have been 18 types of robots which are related to spinal surgery. Firstly, based on the description of traditional pedicle screw fixation technique, this paper summarizes the importance of spinal navigation robot technology. Secondly, the characters of serial mechanism robot and parallel mechanism robot are compared. The serial mechanism spinal navigation robot is simpler in both structure and control, and the operation space and dexterity are bigger. The parallel robot is smaller in size and higher in positioning accuracy and space maintenance stability. Finally, we present the problems existing in the spinal navigation robot technology and the development trends are prospected.

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