RESUMO
BACKGROUND: Spatial positioning is the key function of a surgical navigation robot system, and accuracy is the most important performance index of such a system. METHODS: The kinematic parameters of a six degrees of freedom (DOF) robot arm were used to form the transformation from intraoperative fluoroscopy images to a robot's coordinate system without C-arm calibration and to solve the redundant DOF problem. The influences of three typical error sources and their combination on the final navigation error were investigated through Monte Carlo simulation. RESULTS: The navigation error of the proposed method is less than 0.6 mm, and the feasibility was verified through cadaver experiments. Error analysis suggests that the robot kinematic error has a linear relationship with final navigation error, while the image error and gauge error have nonlinear influences. CONCLUSIONS: This kinematic parameters based method can provide accurate and convenient navigation for orthopedic surgeries. The result of error analysis will help error design and assignment for surgical robots.
Assuntos
Procedimentos Ortopédicos/métodos , Procedimentos Cirúrgicos Robóticos/métodos , Algoritmos , Fenômenos Biomecânicos , Cadáver , Desenho de Equipamento , Fluoroscopia , Humanos , Modelos Anatômicos , Monitorização Intraoperatória/instrumentação , Monitorização Intraoperatória/métodos , Monitorização Intraoperatória/estatística & dados numéricos , Método de Monte Carlo , Movimento (Física) , Procedimentos Ortopédicos/instrumentação , Procedimentos Ortopédicos/estatística & dados numéricos , Procedimentos Cirúrgicos Robóticos/instrumentação , Procedimentos Cirúrgicos Robóticos/estatística & dados numéricos , Cirurgia Assistida por Computador/instrumentação , Cirurgia Assistida por Computador/métodos , Cirurgia Assistida por Computador/estatística & dados numéricosRESUMO
OBJECTIVE: To investigate the feasibility and accuracy of the software computer-assisted robot orthopaedic trauma surgery planning system (CAOTS). METHODS: The software CAOTS was developed and used on 85 cases of stereotactic operation, 24 model bones, 21 cadaveric extremity bones, and 40 patients. 307 groups of directional targets in these cases were randomly sampled. The distribution of error sources for evaluating system performance was embodied using Monte-Carlo method in order to derive the theoretic guarantees for further optimizing and enhancing the system performance, then the software SPSS 2.0 was used to analyze the errors. RESULTS: The statistical area of deviation number was 0.0408 +/- 0.4578 mm, corresponding to the result by Monte-Carlo method. Punching succeeded at the first run for all 307 cases without wrong locking and other clinical complications. CONCLUSION: Accurate and reliable, CAOTS improves the intra-operative navigation techniques and facilitates the orthopedists to perform operation.