| 摘要: | 在許多骨折病例中，骨頭會斷裂成兩塊或多塊。為了使骨頭正常癒合，必須先將這些碎片重置到原來的位置——這個過程被稱為骨復位手術。如今，機器人系統通常用於輔助這項手術，尤其是透過微創技術。這些方法有助於降低感染、出血和骨碎片錯位的風險。目前大多數骨復位機器人採用Stewart-Gough六足機器人機構。然而，這種機器人的工作空間有限，這使得在術前規劃期間難以正確定位骨碎片。此外，這些系統中使用的剛性圓環降低了放置手術釘時的靈活性。為了克服這些問題，一個名為模組化機器人腿的新設計被提出。該概念旨在擴大機器人的工作空間，並在安裝手術釘時提供更大的自由。 內部研究和外部研究都表明，增強型三腳架機構具有巨大的潛力。它們僅用三條腿就能實現六個自由度，從而比同等尺寸的傳統六腳機器人擁有更大的工作區域該設計因其獨特的結構，提供了更寬闊的工作空間，並更適用於骨復位。 本計畫以此理念為基礎，專注於設計一種用於骨復位的模組化機器人操作器。此新系統將採用相同的增強型三腳架概念，但每條腿將單獨安裝在患者身上。這使得設置過程更加簡單，並且無需將釘子與圓環對齊，因為圓環不再是設計的一部分。在運動捕捉系統的引導下，釘子可以自由插入，也可以基於優化的機器人軌跡引導至預定位置。所有插入完成後，即可單獨安裝模組化機器人腳。安裝和配準程序經過精心設計，以確保操作者不會暴露於術中放射性影像。 為了驗證機器人運動學分析的準確性，我們使用MATLAB和MSC Adams View軟體進行了模擬。隨後，研究人員在股骨模型上建構並測試了該系統的實體原型。這些測試用於比較TM機器人和新型模組化機器人系統的性能，從而驗證結果。;In many fracture cases, the bone can break into two or more separate pieces. For the bone to heal properly, these fragments must first be realigned to their original position - a process known as bone reduction surgery. Today, robotic systems are often used to assist with this procedure through minimally invasive techniques. This methods leads to lower the risks of infection, bleeding and misalignment of the bone fragments. Most current bone reduction robots use the Stewart-Gough hexapod mechanism. However, this type of robot has a limited workspace, which can make it difficult to position the bone fragments correctly during pre-operative planning. Additionally, the rigid circular rings used in these systems reduce flexibility when placing surgical nails and increase the stress applied on the patient’s anatomy. To overcome these problems, a new design based on modular robotic legs has is proposed. This concept aims to expand the robot′s workspace, offer greater freedom when installing surgical nails and suppresses the need for circular ring installation.
Both internal studies and external research have shown that augmented tripod mechanisms have significant potential. With just three legs, they can achieve six degrees of freedom, giving them a larger working area than traditional hexapod robots of the same size. This design offered a wider workspace and better suitability for bone reduction due to its unique structure.
This project builds on that idea, focusing on designing a modular robotic manipulator for bone reduction. This new system uses the same augmented tripod concept, but each leg can be mounted individually on the patient’s body through surgical nails. This makes the setup process easier and removes the need to align nails with a circular ring, since the ring is no longer part of the design. While guided through a motion capture system, the insertion of nails can be carried out either freely or guided to a pre-identified location based on optimized robotic trajectories. Once all are inserted, the modular robotic legs can then be mounted individually. The installation and registration procedure are defined to ensure that the operator is never exposed to the radiative intra-operative image.
To confirm the accuracy of the robot’s kinematic analysis, simulations are conducted using MATLAB and MSC Adams View software. Afterward, physical prototypes of the system are built and tested on a femur bone model. These tests are used to demonstrate the feasibility of the design robot to perform bone reduction surgery. |
