关键词: 机器人技术, 髓内钉闭合穿钉, 图像导航, 虚拟手术, 遥操作手术

Abstract: In order to assist surgeons to complete intramedullary interlocking nail, and implement minimally invasive surgery under direct control of the surgeon, a robot assisted intramedullary interlocking nail system is developed, which mainly consists of robot subsystem, image navigation subsystem, telesurgery subsystem and virtual surgery subsystem. The surgery system can dispose the real time Xray images, guide the parallel robot to restore fractured bones and guide the series robot to lock distal hole of intramedullary nails. It can assist surgeons to perform fractured surgery more effectively by improving accuracy of reposition and more easily by releasing the surgeons from the heavy operation. At the same time, the teleoperation can assist surgeons to perform fracture surgery at other place, more safely by reducing irradiation damage. The experimental results show that the developed robot assisted intramedullary interlocking nail system can fulfill the surgery task of fracture surgery accurately.

Key words: robotic technology, intramedullary interlocking nail, image navigation, virtual surgery, telesurgery