摘要
骨科机器人是医疗领域的新兴产业,主要用于微创、精确治疗,可提供精确的手术导航和规划,但目前市场上现存的产品普遍存在自动化程度低,损伤大,辐射高,效率低的问题。针对关节置换时对骨关节磨削实现全自动化的需求,提出一种基于骨关节手术部位分片的方法,并结合遗传算法对磨削路径进行了路径优化。通过MATLAB与VREP的联合仿真证明算法的可行性,并有效的提高骨科机器人的自动化程度。与传统半自动骨科机器人相比,方法能够有效提高手术效率,减少医生疲劳,确保病人得到精度更高的医疗服务。
Orthopedic robots are emerging industries in the medical field,mainly used for minimally invasive and precise treatment,which can provide precise surgical navigation and planning.However,the existing products in the current market generally have problems of low automation,large damage,high radiation and low efficiency.In this paper,aiming at the need of full automation of bone joint grinding during joint replacement,a method based on bone joint surgical site segmentation is proposed,and the path optimization of grinding path is carried out by combining genetic algorithm.The joint simulation of MATLAB and VREP proves the feasibility of the algorithm and effectively improves the degree of automation of orthopaedic robot.Compared with the traditional semi-automatic orthopedic robots,this method can effectively improve the operation efficiency,reduce doctor fatigue and ensure patients to get more accurate medical services.
作者
王欢
丁德锐
王永雄
WANG Huan;DING De-rui;WANG Yong-xiong(School of Optical-Electrical and Computer Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)
出处
《计算机仿真》
北大核心
2019年第5期354-359,共6页
Computer Simulation
基金
国家自然科学基金(61573246)
上海市自然科学基金(18ZR1427000)
上海市科委部分地方院校能力建设项目(15550502500)
关键词
骨科机器人
轨迹优化
复杂曲面
路径规划
遗传算法
Orthopedic robot
Trajectory optimization
Complex surface
Path programming
Genetic algorithm
