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    科学领域:

    • 机器人在医学中的机器人
    • 手术技术 手术技术
    • 人与机器人的交互 (HRI)

    背景情况:

    • 脊柱手术可以从先进的机器人系统中受益,但集成是有限的,像骨切割这样的复杂手术仍然是手动的.
    • 手动手术增加了外科医生的工作量和压力,突出了对辅助技术的需求.

    研究的目的:

    • 引入一个机器人系统,旨在协助外科医生在脊椎干预中进行脊椎体钻探.
    • 为了减少外科医生的工作量,提高外科准确性,并提高患者的结果.

    主要方法:

    • 开发一个7度自由度的机器人操纵器,配备集成的钻井系统.
    • 整合了预先规划工具,基于虚拟固定装置的阻抗控制,以及用于轨迹指导和安全的导航.
    • 在脊椎幻象和猪骨上验证系统的准确性,随后进行了一项用户研究,将机器人辅助与手动钻井进行比较.

    主要成果:

    • 系统验证证明了跟踪,边缘误差和幽灵和猪骨的角度对齐的高精度.
    • 用户研究显示,机器人系统显著减少了轨迹错误和边界违规.
    • 与手动控制相比,参与者在使用机器人系统时报告了较低的精神和身体需求.

    结论:

    • 开发的机器人系统有效地协助外科医生进行脊椎体钻探,提高精度和安全性.
    • 该系统显然减少了外科医生的工作量,并在复杂的脊柱手术过程中提高了性能.
    • 这项技术在机器人辅助脊椎手术中具有显著的潜力,可以改善患者的治疗结果.