机器人辅助超声骶骨截骨比人工操作更精准，误差小10倍。
Comparative Analysis of Autonomous Robotic and Manual Techniques for Ultrasonic Sacral Osteotomy: A Preliminary Study
- 用七自由度机械臂+光学追踪实现超声骨刀自动化控制
- 轨迹误差仅0.11毫米，是人工操作的十分之一
- 深度控制精准达8.1毫米，避免了人工操作的过度穿透
本文提出一种集成超声骨刀与七自由度机械臂的自主式超声骶骨截骨（RUSO）机器人系统，该系统由光学追踪系统引导。为评估系统在表面轨迹和切割深度上的多方向控制能力，我们在相同条件下对人工超声骶骨截骨（MUSO）与机器人超声骶骨截骨（RUSO）在Sawbones模型中进行了定量对比。结果显示，RUSO系统的轨迹精度达0.11毫米（均方根误差），较MUSO的1.10毫米提升一个数量级；而MUSO出现显著过切（实际达到16.0毫米，目标为8.0毫米），RUSO则精确控制在8.1毫米。这些结果表明，机器人操作可有效克服人工截骨的关键局限，为更安全、精准的骶骨切除提供基础。
原文摘要 · Abstract (English)
In this paper, we introduce an autonomous Ultrasonic Sacral Osteotomy (USO) robotic system that integrates an ultrasonic osteotome with a seven-degree-of-freedom (DoF) robotic manipulator guided by an optical tracking system. To assess multi-directional control along both the surface trajectory and cutting depth of this system, we conducted quantitative comparisons between manual USO (MUSO) and robotic USO (RUSO) in Sawbones phantoms under identical osteotomy conditions. The RUSO system achieved sub-millimeter trajectory accuracy (0.11 mm RMSE), an order of magnitude improvement over MUSO (1.10 mm RMSE). Moreover, MUSO trials showed substantial over-penetration (16.0 mm achieved vs. 8.0 mm target), whereas the RUSO system maintained precise depth control (8.1 mm). These results demonstrate that robotic procedures can effectively overcome the critical limitations of manual osteotomy, establishing a foundation for safer and more precise sacral resections.
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