组织工程与重建外科杂志

组织工程与重建外科杂志 ›› 2019, Vol. 15 ›› Issue (2): 85-88.doi: 10.3969/j.issn.1673-0364.2019.02.006

• 论著 • 上一篇    下一篇

基于MATLAB软件的机器人手术规划与仿真模拟

孙梦哲，詹诗薇，韩文卿，陈骁俊，陈伟，邱晓慧，唐荣高，柴岗   

  1. 上海交通大学医学院附属第九人民医院整复外科；上海健康医学院；上海交通大学医学院附属第九人民医院生物医学工程室
  • 收稿日期:2019-03-09 修回日期:2019-03-30 出版日期:2019-04-20 发布日期:2019-04-20
  • 作者简介:第一作者:孙梦哲;第一作者:詹诗薇;唐荣高(E-mail:engineyang@yahoo.com.cn);(E-mail:13918218178@163.com)

Robot Surgery Planning and Simulation Based on MATLAB Software

SUN Mengzhe,ZHAN Shiwei,HAN Wenqing,CHEN Xiaojun,CHEN Wei,QIU Xiaohui,TANG Ronggao,CHAI Gang   

  1. Department of Plastic and Reconstruction Surgery,Shanghai Ninth People's Hospital,Shanghai Jiaotong University School of Medicine,Shanghai 200011,China;Shanghai University of Medicine & Health Sciences,Shanghai 201318,China; Department of Biomedical Engineering,Shanghai Ninth People's Hospital,Shanghai Jiaotong University School of Medicine,Shanghai 200011,China)
  • Received:2019-03-09 Revised:2019-03-30 Online:2019-04-20 Published:2019-04-20
  • Contact: 上海市科字技术委员会(18022201900)；上海申康匡货发赛中心(160X2010A)；上海交通大学医学院:(20161420)

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。

关键词: 机器人辅助手术, MATLAB软件, 手术仿真

Abstract: 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.

Key words: Robot-assisted surgery, MATLAB software, Surgical simulation

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