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Robotic System Navigation Developed for Hip Resurfacing Prosthesis Surgery

机译：为HIP Resurfacing假体手术开发的机器人系统导航

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摘要

This paper discusses the design of a navigation system developed to assist surgeons in the procedures of Hip Resurfacing prosthesis surgeries. In conventional surgery, mechanical jigs are used to obtain a correct alignment for the metal prosthesis, however it is a very time consuming process. In order to solve this problem emerges a new robotic system, named HipRob. The system is composed by a pre-operative sub-system for planning the prosthesis correct alignment and a flexible robot to be co-manipulated by the surgeon during the drilling procedures on the femur head. The real-time navigation of this robotic system is based on the registration between the femur model, constructed from the CT scan, and the surface constructed with ultrasound images, acquired during the surgical procedures. Experimental results, performed in a femur phantom, show that the robot location errors are around 2 mm.
机译：本文讨论了开发的导航系统的设计，以协助外科医生在髋关节重塑假体手术的程序中。在常规手术中，机械夹具用于获得用于金属假体的正确对准，但是它是非常耗时的过程。为了解决这个问题，出现了一个名为Hiprob的新机器人系统。该系统由预先操作的子系统组成，用于规划假体正确对准和柔性机器人，以在股骨头的钻井过程中由外科医生共同操纵。该机器人系统的实时导航基于从CT扫描构成的股骨模型之间的配准，以及在外科手术期间获得的超声图像构造的表面。在股骨幻影中进行的实验结果表明，机器人位置误差约为2毫米。

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