Journal of Tissue Engineering and Reconstructive Surgery ›› 2019, Vol. 15 ›› Issue (2): 85-88.doi: 10.3969/j.issn.1673-0364.2019.02.006

• Original article • Previous Articles     Next Articles

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)

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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