基于软硬骨组织生物力学特性的机器人辅助颈椎间盘置换手术磨削机理

项目名称： 基于软硬骨组织生物力学特性的机器人辅助颈椎间盘置换手术磨削机理

项目编号： No.61273358

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 自动化技术、计算机技术

项目作者： 吴冬梅

作者单位： 哈尔滨工业大学

项目金额： 82万元

中文摘要： 针对颈椎软硬骨组织的生物力学特性，研究机器人辅助颈椎间盘置换手术中，颈椎间盘假体与椎体骨接合面生物力学特性、软硬骨组织的磨削机理、磨削建模、手术磨削轨迹优化等方面的关键问题。从颈椎椎体、及其周围软骨组织的生物力学特性出发，提出多结构、多层次、多种材料并存的物理建模方法，完成人体颈椎各软硬骨组织的有限元模型的建模。通过仿真分析揭示磨削速度、磨削深度与应力、磨削力之间的内在关系，探讨人体软硬骨组织的磨削机理。在此基础上，分析确定与磨削量相关的可测变量，采用基于支持向量机建模方法，建立磨削过程的动力学模型。考虑颈椎生物力学特性及磨削特性，借助医生的临床经验，提出基于软硬骨组织磨削特性的磨削轨迹优化方法。利用实验室已研制的间盘磨削并联机器人，完成活体动物的颈椎间盘置换手术，验证所提模型的正确性。该研究为机器人辅助颈椎间盘置换手术系统在临床上的应用提供坚实的理论依据，向真正的临床应用迈进一步。

中文关键词： 机器人辅助手术；生物力学；磨削特性；磨削轨迹规划；软硬骨组织

英文摘要： Based on the biomechanical properties of cervical soft and hard bone tissue, several key issues of robot-assisted cervical disc replacement surgery are involved in this research, i.e. the biomechanical properties of the surface between cervical disc properties and cervical bone joints, the grinding mechanism of soft and hard bone tissue, grinding model, the trajectory optimization of grinding surgery and so on. In view of the biomechanical properties of cervical vertebrae and its surrounding cartilage tissue, a physical modeling approach is proposed which combines multi-structure, multi-level and various materials. The finite element model of human cervical cartilage and bone tissue is established. The grinding mechanism of the body soft and hard bone tissue is explored witch contains the intrinsic relationship between the grinding speed, depth, stress, force through simulation analysis. The measurable variable relevant to grinding amount is analyzed and determined based on the mechanism. The dynamic model of the grinding process is established using support vector machine. Considering the cervical biomechanical properties and grinding characteristics, grinding trajectory optimization method is provided according to grinding characteristics of hard and soft bone tissue based on the doctor's clinical experience.

英文关键词： robot-assisted surgery；mechanical properties of biological；grinding characteristics；trajectory optimization of grinding surgery；soft and hard bone tissue