基于MATLAB软件的机器人手术规划与仿真模拟
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摘要
目的探索基于MATLAB软件的机器人手术规划与仿真模拟的可行性。方法选取11个颏部前移手术患者的下颌骨模型,在Mimics软件中进行手术规划,并沿截骨平面设计多个钻孔路径作为机器人的执行任务。在MATLAB软件环境下,通过采用直线规划并在两端点线段中间点进行插值来完成术前路径规划,模拟进行截骨平面的自动定位钻孔的轨迹。通过手术仿真确认方案的可行性。结果在MATLAB软件环境下,整体手术过程连贯,UR5机械臂手部末端按预设路径完成运动轨迹,运动期间平稳且没有跳跃点。结论初步验证了机器人自动定位打孔颏部前移术在MATLAB软件环境下进行仿真模拟的可行性。
Objective To explore the feasibility of robot surgery planning and simulation based on MATLAB software.Methods Eleven mandible models of patients were employed. Surgical planning was carried out in mimics software and multiple drilling paths were designed along the osteotomy plane. In the MATLAB software environment, the preoperative path planning was completed by using the straightline planning and interpolation at the middle point of the two endpoint line segments, and the trajectory of the automatic positioning and drilling of the osteotomy plane was simulated. The feasibility of the scheme was checked in the operation simulation. Results In the MATLAB software environment, the whole operation process was consistent, and the end of the hand of the UR5 robot arm completed the movement track according to the preset path, during which the movement was smooth and there was no jumping point. Conclusion The feasibility of automatic drilling of robots and operation simulation in MATLAB software is preliminarily verified.
Objective To explore the feasibility of robot surgery planning and simulation based on MATLAB software.Methods Eleven mandible models of patients were employed. Surgical planning was carried out in mimics software and multiple drilling paths were designed along the osteotomy plane. In the MATLAB software environment, the preoperative path planning was completed by using the straightline planning and interpolation at the middle point of the two endpoint line segments, and the trajectory of the automatic positioning and drilling of the osteotomy plane was simulated. The feasibility of the scheme was checked in the operation simulation. Results In the MATLAB software environment, the whole operation process was consistent, and the end of the hand of the UR5 robot arm completed the movement track according to the preset path, during which the movement was smooth and there was no jumping point. Conclusion The feasibility of automatic drilling of robots and operation simulation in MATLAB software is preliminarily verified.
引文
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[2]Lin YK,Yau HT,Wang IC,et al.A novel dental implant guided surgery based on integration of surgical template and augmented reality[J].Clin Implant Dent Relat Res,2015,17(3):543-553.
[3]Zhu M,Chai G,Zhang Y,et al.Registration strategy using occlusal splint based on augmented reality for mandibular angle oblique split osteotomy[J].J Craniofac Surg,2011,22(5):1806-1809.
[4]Ali MJ,Naik MN,Girish CM,et al.Interactive navigation-guided ophthalmic plastic surgery:assessment of optical versus electromagnetic modes and role of dynamic reference frame location using navigation-enabled human skulls[J].Clin Ophthalmol,2016,10:2383-2390.
[5]Mezger U,Jendrewski C,Bartels M.Navigation in surgery[J].Langenbecks Arch Surg,2013,398(4):501-514.
[6]Lutz JC,Nicolau S,Agnus V,et al.A novel navigation system for maxillary positioning in orthognathic surgery:Preclinical evaluation[J].J Craniomaxillofac Surg,2015,43(9):1723-1730.
[7]Cabrilo I,Bijlenga P,Schaller K.Augmented reality in the surgery of cerebral aneurysms:a technical report[J].Neurosurgery,2014,10(Suppl 2):252-260.
[8]Madhavan K,Kolcun JPG,Chieng LO,et al.Augmented-reality integrated robotics in neurosurgery:are we there yet[J]?Neurosurg Focus,2017,42(5):E3.
[9]Ng AT,Tam PC.Current status of robot-assisted surgery[J].Hong Kong Med J,2014,20(3):241-250.
[10]Peng Y,Zhang W,Zhang G,et al.Using the Starr Frame and Da Vinci surgery system for pelvic fracture and sacral nerve injury[J].J Orthop Surg Res,2019,14(1):29.