Research On Robotic Surgical Navigation System For Total Knee Replacement

The total knee replacement robotic surgical navigation system assists doctors in surgical planning and accurate prosthesis installation through medical imaging and optical positioning systems.The robotic surgical navigation system integrates multidisciplinary technologies and combines mechanical engineering,software engineering,image processing and other technologies to provide doctors with functions such as surgical planning,positioning measurement,expanding the visual range,improving the accuracy,safety and repeatability.Compared with the traditional total knee replacement surgery,the surgery supported by the robotic surgical navigation system has higher precision in bone cutting and prosthesis implantation,and can achieve better alignment of the lower limbs and improve the success rate of the surgery.However,the current domestic mainstream navigation systems are monopolized by foreign giants such as Stryker,Zimmer,Medtronics,etc.,and the high product prices and surgical costs severely restrict the promotion and use of robotic surgical navigation technology in China.Therefore,this paper studies the robotic surgical navigation system for total knee replacement,and mainly completes the following research work:Firstly,the principle and planning method of robot-assisted surgery are studied.Compare the traditional total knee replacement surgery and the total knee replacement surgery supported by the robotic navigation system,and analyze the operation principle;based on CT images,the volume rendering and surface rendering models are established for the navigation system,and the lower limbs are established according to the surface rendering model.The force line system provides data support for intraoperative assessment and intraoperative planning,and designs surgical planning methods based on the lower limb force line system.Secondly,the navigation principle and registration algorithm of robot-assisted surgery are studied.By analyzing the navigation principle of the whole system,a coordinate system is established for each object in the system and the transformation relationship between each coordinate system is explained in detail;the key technology in the navigation system-registration is studied,including Harris-3D extraction of feature points,SAC-IA coarse registration and ICP fine registration,and through experiments to verify the accuracy of the registration algorithm and its feasibility in model surgery experiments,the experimental results show that the root mean square error of the registration algorithm is 2.10mm.The accuracy and feasibility of the ICP registration algorithm meet the requirements.Build a total knee replacement robotic surgery navigation system platform again.The software and hardware platforms of the system are introduced respectively;and the functional requirements of the software system are analyzed,the data structure and each functional module of the software system are designed.Perform model surgery experiments on the platform of the robotic surgical navigation system for total knee replacement.According to the registration,intraoperative evaluation,intraoperative planning of the prosthesis installation posture and real-time data of the optical positioning system,the planned osteotomy is performed.The plane is converted to the robot coordinate system,and the osteotomy experiment is carried out by holding the osteotomy abrasive tool by the robot.The test results show that the error of the inner and outer gap of the robot positioning is within 1mm,and the error of the varus angle is within 0.2°;the plane after osteotomy The error of the inner and outer gap is within 3mm,and the error of the valgus angle is within 1.5°.