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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Robotic System for Bone Drilling Using a Rolling Friction Mechanism
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Robotic System for Bone Drilling Using a Rolling Friction Mechanism

机译：使用滚动摩擦机构的骨钻机​​器人系统

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摘要

Bone drilling procedures are frequently performed in various surgical fields using computed tomography. The robotic systems employed to perform such procedures can improve the targeting accuracy and reduce the radiation exposure to surgeons. This report presents the mechanism, navigation system, and experimental evaluation of a proposed robotic drilling system. This system provides automatic drill tip alignment and target drilling. Unlike previously proposed robotic drilling systems, the system developed here employs a drilling mechanism based on rolling friction and an orientation mechanism using a four-bar linkage with a linear actuator. It also implements a release mechanism between the robot and drill to enhance surgical safety. The proposed orientation mechanism was proven to provide a high drilling location accuracy. To guide the robot and enable automatic target drilling, we developed a vision-guided navigation system, which was integrated with the proposed robot using a stereo camera. The effectiveness of the proposed robotic system was demonstrated by performing ex vivo drilling on swine femur samples.
机译：使用计算机断层摄影术经常在各种手术领域中进行骨钻孔程序。用于执行此类程序的机器人系统可以提高瞄准精度并减少外科医生的辐射暴露。本报告介绍了一种建议的机器人钻孔系统的机理，导航系统和实验评估。该系统提供自动的钻尖对准和目标钻孔。与先前提出的机器人钻孔系统不同，此处开发的系统采用基于滚动摩擦的钻孔机制和使用带有线性致动器的四连杆机构的定向机制。它还在机器人和钻头之间实现了释放机制，以提高手术安全性。实践证明，所提出的定向机构具有很高的钻孔定位精度。为了引导机器人并实现自动目标钻孔，我们开发了视觉引导导航系统，该系统与使用立体摄像机的拟议机器人集成在一起。通过对猪股骨样品进行离体钻探，证明了所提出的机器人系统的有效性。

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  • 来源
    《Mechatronics, IEEE/ASME Transactions on》 |2018年第5期|2295-2305|共11页
  • 作者

    Seongbo Shim; Hyunseok Choi; Daekeun Ji; Wongin Kang; Jaesung Hong;

  • 作者单位

    Robotics Engineering Department, Daegu Gyeongbuk Institute of Science and Technology, Daegu, South Korea;

    Robotics Engineering Department, Daegu Gyeongbuk Institute of Science and Technology, Daegu, South Korea;

    Robotics Engineering Department, Daegu Gyeongbuk Institute of Science and Technology, Daegu, South Korea;

    Robotics Engineering Department, Daegu Gyeongbuk Institute of Science and Technology, Daegu, South Korea;

    Robotics Engineering Department, Daegu Gyeongbuk Institute of Science and Technology, Daegu, South Korea;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Friction; Force; Bones; Surgery; Robot kinematics; Navigation;

    机译：摩擦;力;骨骼;手术;机器人运动学;导航;

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