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医疗外科机器人
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《医疗外科机器人》以北京航空航天大学机器人研究所在研究和开发医疗外科机器人过程中所积累的知识和经验为主线,首先总结了医疗外科机器人的发展变革和趋势;其次,从医疗外科机器人的机构分析与本体设计、控制策略与方法、典型影像处理与信息提取方法、手术规划与仿真技术、遥外科技术、人机关系分析等角度对方法和技术进行了详细论述,并从应用角度分析了医疗外科机器人的临床操作规程和注意事项;后,从产业化的角度,分析了医疗外科机器人的市场前景及创新...
《医疗外科机器人》以北京航空航天大学机器人研究所在研究和开发医疗外科机器人过程中所积累的知识和经验为主线,首先总结了医疗外科机器人的发展变革和趋势;其次,从医疗外科机器人的机构分析与本体设计、控制策略与方法、典型影像处理与信息提取方法、手术规划与仿真技术、遥外科技术、人机关系分析等角度对方法和技术进行了详细论述,并从应用角度分析了医疗外科机器人的临床操作规程和注意事项;后,从产业化的角度,分析了医疗外科机器人的市场前景及创新策略,并对医疗外科机器人的未来发展给出了展望和建议。
目录《21世纪先进制造技术丛书》序前言第1章 概述 11.1 机器人的基本概念 11.2 医疗机器人的分类及特点 21.3 医疗外科机器人的概念及特点 31.4 医疗外科机器人系统的历史变革 51.4.1 机器人辅助手术技术 51.4.2 遥外科手术技术 91.4.3 外科导航手术技术 141.5 医疗外科机器人系统的分类 191.5.1 机器人辅助定位系统 191.5.2 机器人辅助操作系统 211.6 医疗外科机器人的发展趋势 25参考文献 26第2章 医疗外科机器人的系统结构 312.1 医疗外科机器人系统的功能原理 312.1.1 图像采集与处理单元 312.1.2 定位信息获取单元 332.1.3 配准与空间变换单元 352.1.4 人机交互与显示单元 362.1.5 机器人定位与手术操作单元 382.2 医疗外科机器人的组成结构 382.2.1 医疗外科机器人子系统 382.2.2 机器人软硬件结构 402.2.3 手术器械末端 422.3 医疗外科机器人的关键技术模块 422.3.1 机器人系统 422.3.2 辅助诊断及规划导引 422.3.3 配准与空间映射 432.3.4 手术器械的位姿跟踪 432.3.5 虚拟临场操作 442.3.6 安全保证及人机交互 442.4 医疗外科机器人的特殊性 45第3章 医疗外科机器人的机构分析 473.1 医疗外科机器人的机构类型综合与优化 473.1.1 医疗外科机器人的任务分析 473.1.2 医疗外科机器人的机构类型综合 493.1.3 医疗外科机器人的运动学分析 563.1.4 医疗外科机器人的机构优化 643.2 医疗外科机器人工作空间和灵活性分析 713.2.1 基本概念 723.2.22 自由度手腕的灵活性分析 733.2.3 医疗外科机器人灵活工作空间确定 773.2.4 医疗外科机器人灵活工作空间综合 793.2.5 CRAS-BH4机器人灵活空间综合 843.2.6 混联机器人工作空间分析 853.2.7 混联机器人灵活性研究 93第4章 医疗外科机器人的控制方法 964.1 医疗外科机器人控制的设计要求 964.1.1 控制系统的技术特点 964.1.2 控制系统的设计要求 984.1.3 控制系统的结构分析 984.2 控制模型分析 1004.2.1 系统控制结构 1004.2.2 系统控制方式 1034.2.3 机器人单关节控制建模 103参考文献 107第5章 医疗外科机器人的图像引导技术 1085.1 二维医学影像处理与信息提取方法 1085.1.1 透视图像失真校正 1085.1.2 无失真全景透视图像的拼接方法 1195.2 三维医学影像处理与信息提取技术 1305.2.1 三维解剖模型的几何形体重建 1305.2.2 术中三维透视成像 1375.3 手术空间映射方法 1485.3.1 成像系统的参数标定方法 1485.3.2 基于标记点的空间映射方法 1615.3.3 基于双层模板的定位方法 1665.4 手术规划与仿真 1695.4.1 基于欧拉角的进针路径规划与仿真 1695.4.2 基于健侧镜像的骨折复位规划与仿真 1745.5 医学影像融合与预测显示 1765.5.1 图像融合的概念 1765.5.2 仿真环境建模 1775.5.3 视频融合与预测显示 1775.5.4 分布式仿真 181参考文献 183第6章 机器人遥外科技术 1856.1 机器人遥外科的应用需求 1856.2 机器人遥外科系统体系结构 1866.2.1 遥外科系统体系结构现状分析 1866.2.2 外科机器人系统的工作过程 1886.3 基于Agent的分层控制遥外科系统体系结构 1896.3.1 Agent子系统 1916.3.2 网络通信子系统 1936.4 系统控制模式 195参考文献 195第7章 医疗外科机器人的人机交互技术 1977.1 医疗外科机器人中的人机交互问题 1977.1.1 医疗外科机器人人机交互的必要性 1977.1.2 人机交互的概念 1987.1.3 人机交互的理论和方法基础 2007.1.4 医疗外科机器人领域人机交互的研究内容 2017.2 医疗外科机器人的人机交互特点 2047.2.1 医疗外科机器人的人机界面 2047.2.2 医疗外科机器人的人因学方法 2047.3 医疗外科机器人中的层次任务分析方法 2067.3.1 层次任务分析方法 2077.3.2 作业流程分析及重设计 2077.3.3 分析与评价 2117.4 医疗外科机器人中的人为失误辨识方法 2117.4.1 基于任务分析的失误辨识方法 2127.4.2 骨科机器人系统的人为失误辨识 2127.4.3 分析与评价 216参考文献 216第8章 医疗外科机器人的临床应用 2188.1 概述 2188.2 机器人辅助有框架立体定向手术 2198.2.1 手术系统结构 2198.2.2 模拟试验及临床应用 2208.3 机器人辅助无框架立体定向手术 2228.3.1 手术系统结构 2228.3.2 模拟试验及临床应用 2228.4 机器人辅助髓内钉远端锁定手术 2238.4.1 手术系统结构 2248.4.2 操作规范 2248.4.3 模拟试验及临床应用 2258.5 分析与评价 226参考文献 226第9章 未来的技术和产业化发展思考 2289.1 产业前景 2289.2 产业现状 2299.3 现存问题分析 2309.3.1 临床应用方面 2309.3.2 关键技术方面 2319.4 研究热点和发展趋势 2329.5 建议与展望 233
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