关键词: 脊柱手术, 纳控制, 图像导航, 手术机器人

Abstract: In the vertebral pedicle screw fixation surgery, to overcome the low positioning accuracy of manual operation and the fatigue during long time surgery, a spine surgery robot system used to assist the surgeons in the vertebral pedicle screw fixation surgery is performed. The robot has a configuration of five Degrees of freedom（Dofs）. It is designed with full account of surgical safety and the effective coverage of operation space. Also, its kinematics is completely analyzed. The control system of the robot includes the active control mode based on the image navigation, and passive control mode based on a 6 Dofs force/torque sensor. In the active control mode, the doctor plans optimized location information for the screw path through the navigation system, and then the robot automatically locates the surgical point according to the planned path; passive control mode is based on admittance control principle, which maps the drag force acting on the end-effector to the motion of the robot. So that the robot moves following the drag action. The force drag control experiments verify the effectiveness of the passive control mode.

Key words: spinal surgery, admittance control, image navigation, surgical robotics