Research On Key Technology Of Computer Assistant Ortho-Pedics Surgery

With the development of computer technology,traditional medical surgery has entered the digital age.Digital surgery,represented by Computer Assistant Orthopedics Surgery(CAOS),has also entered a new stage of development.Computer-assisted surgery combines medicine,computer science,and intelligent control science,and research related to it has increased in recent years.CAOS technology can shorten the length of exposure of medical workers in X-rays,while improving surgical accuracy and reducing trauma.In this paper,KM-Robot,a 6-degree-of-free orthopedic surgical robot arm independently developed by XinJunte,is used as a research platform.The preoperative absolute precision calibration,intraoperative posture detection and digital reconstruction of radiographic image source position around the surgical robotic arm in the field of orthopedic surgery navigation.Computation and two-dimensional and three-dimensional image registration are in-depth research,and solutions are proposed for the problems found in the research.The main research contents of this paper are as follows:Firstly,this thesis focuses on the problem of poor absolute positioning accuracy when performing pedicle surgery on orthopedic surgery robotic arm.A multi-stage calibration algorithm based on genetic algorithm is proposed,and the surgical manipulator is performed by this method.Calibration and accuracy correction,and finally verified the positioning accuracy of the surgical robot arm after calibration.Secondly,this paper proposes a mechanical arm pose detection method combining ArUco marker code and perspective n-point projection algorithm.In the process of surgical navigation,the posture of the surgical robot arm is detected to ensure that it moves according to the pre-planned trajectory.The pose here mainly refers to the angle of rotation of the surgical robot arm relative to the base coordinate system and its tip coordinates.Thirdly,this paper proposes an improved DRR algorithm based on camera pose estimation algorithm.A special structure double-layer shot calibrating plate was designed to calculate the position of the X-ray source while taking X-ray images.It effectively improves the problem of poor projection results when the Digital Reconstruction Radiograph(DRR)in the pedicle puncture operation is in the position of the unknown virtual X-ray source,and simplifies the flow of the DRR algorithm and improves the process.Reconstruction efficiency.Finally,the registration of two-dimensional X-ray film and three-dimensional CT volume data has been studied.The improved DRR algorithm is used to generate virtual two-dimensional data,and the improved viola-wells algorithm is used to perform registration.