关键词: 导航引导定位, 手术机器人, 位姿距离精度, 三坐标测量机, 前交叉韧带重建手术

Abstract:

A method for measuring robot pose distance accuracy is proposed to measure the positioning accuracy of the navigation guided surgical robot in medical occasion. The orientation accuracy is gained by measuring three standard balls placed on one plane with coordinate measuring machine, and the robot pose measurement platform is constructed according to the positioning principle of robot-assisted surgical system. Then the robot pose distance accuracy is measured according to the national robotic performance measurement standards. The results show that the position distance accuracy and repeatability of robot are at[10-1]mm and[10-2]mm respectively, the orientation distance accuracy and repeatability are at[10-1]degree and[10-2]degree respectively. Finally, the robot is applied to the anterior cruciate ligament reconstruction surgery and the result shows that the robot can meet the requirements of the surgical occasion.

Key words: positioning guided by navigation, surgical robot, pose distance accuracy, coordinate measuring machine, anterior cruciate ligament reconstruction