脊柱微创手术机器人机械手轴位引导腰椎弓根置针与精度分析

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1、郑州大学2009届硕卜毕业论文英文摘要Perforation;eomPuter-assistedimage一guidedtechnologyhasbeenadvaneedtoimProveaeeuraey.However，thesesystemsneedexPensiveandsPeeialequiPmentswiththedisadvantageofcumbersomeProeedures.SometeehniealProblemsremainfullyunresolved，suehasd邓amicmonitor

2、ing，registrationerrors，unsatisfaetoryPrecisionofserewimPlantation.BeeanseofthesuboPtimalreliabilityandeomPlexity，thefrequeneyofuseofthecomPuter一assistedsurgeryteehnologies15relativelylow.Therefore，toexPloreamoreseeureandreliable，simPleandeffeetivewaytoguidePer

3、eutaneousPedielePuneture15urgent.PurPoseToevaluatethefeasibilityandaeeuraeyofPedieleguidewirePlaeementbyMISSrobotwithmaniPulatoraxialPositionguiding，withaviewtoresearehingamethodofminimallyinvasivePedieleguidewireimPlantationsafelyandreliablywithhighPuneturePr

4、ecision·MethodS1.SPecimenselection.SixdryhumaneadaverielumbarsPines(LItoLS)wereusedandinsPeetedvisuallyandradiograPhieallytoexeludeabnormalmorphologyandbonedefeets.2.PreoPerativedetermination.SPinesPeeimensunderwentPre一interventionCTseanning，andidealtransverse

5、seetionangle(TSA)wasmeasuredaeeordingtothelateraleross一seetionalimageofeaehvertebralbody.3.OPeratingmethodsandProeedures.(l)ThevertebralbodysPeeimenwasfixedandC一armwasadjustedtillthestandardlateralimagewasobtained.ThemaniPulatorwasIoweredanditsdireetionwasadju

6、sted，50thattheguidewireeouldProjeetthroughtheeenterofthePediele‘sProjeetion，andParalleluPPerendPlateofthevertebral.(2)C一armwasadjustedtillastandardPosteroanteriorimagewasobtainedandtheProjeetionwasintheeenterofthesereen，(3)C一armwasrotatedataeertainangle(design

7、TSA)toobtainthePrOJeetion月叼11少、学2009届硕!毕业论文英_文摘要ofthetargetPedicle.(4)TherobotmaniPulatorwasadjusted，50thattheProjeetionoftheguidewirewasattheProjeetioncenteroftargetPediele.(5)ThemaniPulatorwaslowered.Therobotseto，whenthegUidewirereaehedthePediclePosterioreor

8、tex.ThewholeProeesswasmonitoredtomakesuretheProjeetionoftheguidewirewillnotdeviatefromtheeenterofPedieleProjeetionuntiltheguidewirewaswithinthevertebralbody.4.Measurementofindieato