手持機器人於脊椎手術輔助定位之研究

Abstract

本研究以手持式機器人為應用平台，旨在利用遠端鎖定(Distal locking)定位方式，透過手持式機器人，於脊椎手術椎弓釘下鑽過程中訂定最佳操作範圍、模擬機器人平台工作空間，以及訂定規劃路徑追蹤範圍，實現一消除醫生手部晃動、協助並“導引”醫生完成目標路徑對位之手術機器人系統。藉由人機導航介面進行目標下鑽路徑規劃後；探討在光學追蹤裝置判斷範圍內，反光標記之判別因素，定義出反光標記判讀條件，並模擬人手運動與機器人作動最佳操作範圍；在此操作範圍內，應用文獻中之遠端鎖定方式與上述空間中反光標記，計算出遠端鎖定命令後便送至機器人平台進行作動，透過建立機器人平台運動學模型，模擬機器人平台最佳操作平面同時定義其工作空間，在此工作空間內機器人進行作動與補償人手晃動作造成的誤差；透過實驗記錄徒手對位極限與對位時間，定義出一包含此徒手操作極限之追蹤範圍，再透過機器人實驗，人手持手持式機器人於追蹤範圍內進行對位並同時紀錄操作時間；最後比較兩實驗之精度與時間，驗證此系統成功增加手術過程中之鑽孔精度，同時降低手術時之操作與對位時間。

In this study, a hand-held robot is used as the application platform, which aims to use the remote locking (Distal locking) positioning method, through the hand-held robot, in the spinal surgery of pedicle screw fixation process to set the best operating range, simulation of robot platform workspace, the planning of the path to track the scope of the implementation of a hand tremor-eliminated tool and 'guide' the surgeon to complete the target path alignment of the surgical robot system. After the target drilling path planning is carried out by the human-machine navigation interface, the discriminant factors of the reflective marker are defined within the tracking range of the optical tracking device, and the conditions of the interpretation of the reflective mark are defined. In the operating range, the remote locking method in the literature and the reflective mark in the above space are calculated and the remote locking command is calculated and sent to the robot platform. The kinematic model of the robot platform is established to simulate the optimal operation plane of the robot platform. In this defined workspace for the robot to act and compensate for the error caused by hand tremor; through the experimental record of the hand limit and the alignment time, define a tracking range that includes the operating limit of this hand, and then through the robot experiment Finally, the accuracy and time of the two experiments were compared to verify that the system successfully increased the drilling accuracy during the operation and reduced the operation and alignment time of the operation.