Department of Biomechatronics Engineering, National Taiwan University, Taipei 10617, Taiwan.
Sensors (Basel). 2022 Apr 21;22(9):3205. doi: 10.3390/s22093205.
In recent decades, robot-assisted surgery has been proven superior at providing more accurate outcomes than the conventional one, particularly in minimally invasive procedures. However, there are still limitations to these kinds of surgical robots. Accurate bone drilling on the steep and hard surface of cortical bone is still challenging. The issues of slipping away from the target entry point on the bone surface and subsequently deviating from the desired path are still not completely solved. Therefore, in this paper, a force control is proposed to accompany the resolved motion rate controller in a handheld orthopedic robot system. The force control makes it possible to adjust the contact compliance of the drill to the bone surface. With the proper contact compliance, the drill can be prevented from deflecting in contact with the bone surface, and will eventually be directed to the target entry point. The experiments on test jig and vertebra phantom also show that the robot under the proposed contact compliance visual feedback control structure could produce better usability positioning accuracy under various contact disturbances than its counterpart.
近几十年来，机器人辅助手术已被证明比传统手术更能提供准确的结果，尤其是在微创手术中。然而，这些手术机器人仍然存在一些局限性。在皮质骨的陡峭和坚硬表面上进行精确的钻孔仍然具有挑战性。钻头从骨表面的目标进针点滑脱并偏离预定路径的问题仍然没有完全解决。因此，在本文中，提出了一种力控制方法，以在手持式骨科机器人系统中配合已解决的运动速率控制器。力控制使得调整钻头与骨表面的接触顺应性成为可能。通过适当的接触顺应性，可以防止钻头在与骨表面接触时发生偏斜，并最终指向目标进针点。在测试夹具和椎骨模型上的实验也表明，在各种接触干扰下，与传统机器人相比，采用所提出的接触顺应性视觉反馈控制结构的机器人能够产生更好的可用性定位精度。
