颅颌面外科手术机器人空间配准及实验

针对颅颌面区域结构复杂、手术风险大、精度要求高的特点，研发了一套颅颌面外科手术机器人系统．为实现机器人系统高效、精确的空间配准，提出并建立了一套基于光学定位的颅颌面外科手术机器人空间配准方法，实现了机器人各子系统之间的坐标系转换．通过基于四元数的最近点迭代配准算法实现了点集之间的矩阵转换．在综合医学影像、机器人与各子系统空间配准的基础上，分别开展了配准精度和定位精度的验证实验，并完成了三叉神经射频热凝术的模型和尸体穿刺定位实验．配准精度验证实验的配准误差平均值均小于0.75mm，定位精度验证实验的误差平均值为0.56mm，模型实验的穿刺成功率为100%，尸体实验的穿刺成功率为95%．综合实验结果表明该空间配准方法的配准精度较高，具有一定的可行性，可以满足颅颌面外科手术机器人系统的需要．

Spatial Registration of a Cranio-maxillofacial Surgery Robot and Its Experiments

Cranio-maxillofacial region is of a complex structure, its surgery is of high-risk, and therefore it demands a high accuracy. For this reason, a set of cranio-maxillofacial surgery robot system is developed. Firstly, a spatial registration method of the cranio-maxillofacial surgery robot based on optical localization is proposed and established, to complete the spatial registration of the robot system efficiently and accurately. And the coordinate system transformation between different subsystems of the robot is realized by the spatial registration method. Then, the matrix conversion between point sets is realized by the quaternion based iterative closest points registration algorithm. The verification experiments of registration accuracy and positioning accuracy are carried out respectively, as well as the model and cadaver puncture positioning experiments of trigeminal radiofrequency thermocoagulation, based on the spatial registration of the medical image, the robot and its each subsystem. The average registration errors of registration accuracy verification experiment are less than 0.75 mm. The average error of the positioning accuracy verification experiment is 0.56 mm. The successful rate of puncture is 100% in model experiments, and it is 95% in cadaver experiments. The comprehensive experimental results show that the spatial registration method is of a high registration accuracy and a certain feasibility, which meets the needs of the cranio-maxillofacial surgery robot system.