骨科修补辅助医用机器人系统技术研究

在概述了骨科修补辅助医用机器人系统总体方案的基础上，对系统中骨骼医学图像处理技术进行了重点描述。通过采用图像格式转换、数学形态变换结合Canny边缘算子算法实现了骨骼的轮廓提取。采用综合使用反求软件和传统CAD／CAM软件方法进行反求工程开发，实现了个体骨骼的三维重建实体建模。机器人控制系统采用基于IPO＋DSP运动控制器的开放式分布控制结构，完成对骨骼假体的加工与制作。系统中采用的图像与接触测量相融合的测量技术，对制造业中精密测量具有很强的借鉴意义。在假体加工系统中为了获得满意的加工表面，必然要规划出合理的加工刀具运动路径以及合理的加工工艺，该技术的研究同样有益于制造业。

The correlative technologies of the medical robot system for orthopaedics repairing

After introducing the general scheme of the medical robot system for orthopaedics repairing, the medical image processing technologies in orthopaedics are described emphatically. Using the methods of image format enhancement and morphological edge detection combined with Canny edge operators algorithm, the boundaries detection of bones are achieved. Adopting the compositive means of RE software and traditional CAD/CAM software for accomplishing RE development, the 3D solid models of characteristic bones are established in the system. The robot system, armed with opening and distributed control system based on IPC and DSP motion controller, completes the processing and facture of bones prosthesis. The syncretic measuring technique of image and contact measurement in the system is significative for reference in precision measurement in manufacturing. The technology of planning the tools path and processing for getting satisfied surface is propitious to the research of manufacturing.