双臂协同颅颌面截骨手术机器人

doi:10.3901/JME.2025.03.212

摘要/Abstract

摘要： 颅颌面解剖结构复杂以及微创入路视野狭窄导致手术难度高、需要多名医助配合、手术结果过于依赖医生经验等问题。颅颌面手术机器人结合智能影像建模分析技术与精准导航技术可以有效降低术者体力负担，提高手术精准性和效率。为了提高颅颌面手术机器人的操作效率，提出一种高实时性的双臂协同颅颌面截骨手术机器人系统。采用深度卷积自监督预训练学习网络实现了人体颅颌面部多组织自动分割和三维重建，并在重建的三维模型上实现了截骨路径的自动规划；采用鲁棒点云配准算法进行空间配准，通过光学跟踪定位和空间配准将规划轨迹从图像空间映射到机器人任务空间；基于EtherCAT总线技术实现了1 kHz的高实时性控制框架，并提出一种结合导纳控制算法与视觉伺服跟踪算法的混合截骨控制方法。开展了机器人截骨模型实验，实验结果表明了该系统具有良好的人机柔顺交互能力，下颌骨分割Dice系数为94.95%，截骨误差为1.68±0.26 mm，验证了系统的有效性。

关键词: 双臂机器人系统, 颅颌面手术, 导纳控制, 机器人导航

Abstract: The complex craniomaxillofacial anatomy and narrow surgical field pose significant challenges for surgical procedures. These challenges include high surgical difficulty, cooperation between surgeons and assistants, and over-reliance on the surgeon’s experience. The fatigue of surgeons is reduced and the accuracy of operation is improved via the intelligent image analysis technology and high precision robotic system. To promote efficiency, a dual-robot surgical system for maxillofacial osteotomy is proposed. The self-supervised pre-training learning network is used to realize segmentation and reconstruction. The iterative closest point algorithm is employed for image alignment. The planning trajectory is realized and mapped from the image space to the robotic task space via the optical tracking and registration. The hybrid osteotomy control method combining admittance control and visual servo tracking is proposed in the 1 kHz real-time framework based on the EtherCAT. The dual-robot system is tested with a skull model. The human-machine interaction is demonstrated. The experimental results show that the dice of mandible segmentation is 94.95% and the osteotomy error is 1.68±0.26 mm, confirming the effectiveness of the proposed method.

Key words: dual-robot system, craniomaxillofacial surgery, admittance control, robot navigation

中图分类号:

TP249

罗学劲, 张润世, 邓颖言, 莫昊, 竺佳宇, 刘昕宇, 贺洋, 王君臣. 双臂协同颅颌面截骨手术机器人[J]. 机械工程学报, 2025, 61(3): 212-224.

LUO Xuejin, ZHANG Runshi, DENG Yingyan, MO Hao, ZHU Jiayu, LIU Xinyu, HE Yang, WANG Junchen. Dual-robot Surgical System for Collaborative Maxillofacial Osteotomy[J]. Journal of Mechanical Engineering, 2025, 61(3): 212-224.

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