组织工程与重建外科杂志 ›› 2022, Vol. 18 ›› Issue (4): 289-.

• •    下一篇

一款新型人机协作开颅手术机器人的动物实验研究:精确性和安全性分析

  

  • 出版日期:2022-08-01 发布日期:2022-09-05

Novel man-machine cooperative robot-assisted craniotomy: A pilot animal experiment on feasibility and safety 

  • Online:2022-08-01 Published:2022-09-05

摘要:  目的 探讨新型人机协作手术机器人用于辅助开颅手术的可行性,并就动物实验的结果分析其安全性。方法 本研究采用4条比格犬进行机器人辅助开颅手术。术前先在颅骨植入数枚钛钉,再行CT扫描。开颅手术过程中,固定头部并采用锥形束计算机体层成像(CBCT)进行术中扫描。机器人和比格犬头部的相对位置借由有标记钢球的末端执行器完成注册,而术前设计方案则借助颅骨的钛钉匹配到术中CT扫描图像中。评价指标主要包括安全性指标(硬脑膜撕裂率和术后并发症)和精确性指标(颅骨开窗符合率和术前设计方案与术后CT扫描之间的偏差)。结果 所有手术操作均顺利完成,未观察到硬脑膜撕裂或术后并发症。颅骨开窗符合率达94.08%±2.32%。钻孔中心点的绝对误差为(0.9394±0.1497) mm,角度误差为3.37°±1.47°。钻孔上表面的平均线性偏差值为(1.056±0.129) mm,下表面则为(1.087±0.096) mm。结论 新型人机协作手术机器人辅助开颅手术是安全可行的。下一代手术机器人应集成更多技术而更便于开颅操作。

关键词:  人机协作机器人; ,  机器人辅助外科; ,  开颅手术; ,  比格犬

Abstract: Objective To introduce a novel man-machine cooperative robot, and to carry out animal experimental study on its feasibility of assisting craniotomy. Methods Four beagles underwent craniotomy. Titanium nails were implanted into the skull before preoperative CT scans. During the craniotomy, the head was immobilized and cone beam computed tomography (CBCT) was adopted for intraoperative scans. The robot and head were registered by an end-effector with labeled steel balls. The pre-operative design was aligned to the titanium nails in intra-operative CT scans. Safety was assessed by rate of dural tears and postoperative complications. Accuracy was evaluated by coincidence rate of the cranial window and deviation between preoperative design and postoperative CT scans. Results All operations were successful. No dural tears or postoperative complications were observed. The mean coincidence rate of the cranial window was 94.08%±2.32%. The absolute error of the center point of the drilling holes was (0.9394±0.1497) mm, with an angle error of 3.37° ±1.47° . The mean linear deviation value was (1.056±0.129) mm in the upper surface, and (1.087±0.096) mm in the lower surface. Conclusion Thisnovel man-machine cooperative robot is feasible and safe for assisting craniotomy. More technique should be integrated in its next generation for more convenient use.

Key words: Man-machine cooperative robot,  Robot-assisted surgery,  Craniotomy,  Beagles