改进的R-CUBE机械臂可精准控制脊柱手术钻孔轨迹
Optimization of an Augmented R-CUBE mechanism for Cervical Surgery
- 基于增强型R-CUBE机构，实现3平移2旋转复合运动
- 针对真实患者数据优化，提升钻孔路径精度与运动性能
- 适用于脊柱内固定手术，适合医疗机器人研发者参考
在部分脊柱手术中，需在椎骨上钻孔以植入椎弓根螺钉。本文提出一种新型机械结构，基于全移动R-CUBE机构的增强版本，通过改进连杆设计实现额外旋转运动。该机构具备3自由度平移和2自由度旋转（3T2R）运动特性，用于操控手术钻头。整体结构分为三个阶段：一个平移段、一个传动段和一个旋转段。分别推导各阶段的运动学与速度模型，并进行整合。基于真实患者病例获取的钻孔轨迹，对机构进行优化，以实现最优的运动性能。
原文摘要 · Abstract (English)
In some surgical operations targeting the spine, it is required to drill cavities in the vertebrae for the insertion of pedicle screws. A new mechanical architecture is proposed for this application. It is based on an augmented version of the full translational R-CUBE mechanism, with improved linkages to implement additional rotational motion. Using this concept, a mechanism presented with a 3T2R motion that is required for the manipulation of the surgical drill. It is mainly composed three stages: one translational, one transmitting and one rotational. Their respective kinematic and velocity models are separately derived, then combined. Based on the drilling trajectories obtained from a real patient case, the mechanism is optimized for generating the highest kinematic performances.
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