| 摘要(英) |
Spinal fusion surgery is a common surgical treatment for degenerative spinal diseases. The step of implanting pedicle screws is so risky that it requires high positioning accuracy and the surgeon′s clinical experience to avoid injuring the spinal nerves. In minimally invasive surgery, the position of the pedicle cannot be directly known. Thus, the surgeon has to hold the surgical instrument and continuously take X-ray images to confirm whether the orientation of the instrument is safe, which caused patient and medical staff danger of high radiation exposure and take much more time. Compared with hand-held surgical instruments for surgery, using collaborative robotic arm for surgery has a higher stability. However, the repeatability of the robotic arm is high but the absolute accuracy is low. Thus, the absolute accuracy of the arm must be calibrated before it can be applied under the spine surgery guidance system.
This research uses Orthogonal Neural Network to train and predict the pose compensation value of the UR5 robotic arm within the training range, correct the accuracy of the robotic arm on the extension arm and discuss the various applications of the robotic arm in spinal surgery problem. This research proposes two experimental methods to test the error of the robot arm: input catch test and probe catch test. The results of input catch test show that the average position error of the extension arm before calibration is 2.48mm, and the average position error of the extension arm after calibration is 0.67mm. The robot position accuracy is improved by 72.9%. The results of probe catch test show that the average position error of the probe before calibration is 3.45mm, and the average position error of the probe after calibration is 0.56mm. The robot position accuracy is improved by 83.7%. The experimental results of the two error tests show that the robot arm calibration method in this study has successfully improved the position accuracy of the robot arm, allowing the robot arm to be used in spinal surgery. |
| 參考文獻 |
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