{"id":17575,"date":"2023-04-10T15:30:11","date_gmt":"2023-04-10T08:30:11","guid":{"rendered":"http:\/\/noithathoaphat.in\/ctv\/?p=17575"},"modified":"2023-04-10T17:33:56","modified_gmt":"2023-04-10T10:33:56","slug":"phau-thuat-thay-khop-toan-phan-bang-robot","status":"publish","type":"post","link":"http:\/\/noithathoaphat.in\/ctv\/index.php\/2023\/04\/10\/phau-thuat-thay-khop-toan-phan-bang-robot\/","title":{"rendered":"Ph\u1eabu thu\u1eadt thay kh\u1edbp to\u00e0n ph\u1ea7n b\u1eb1ng robot"},"content":{"rendered":"

M\u1ee5c ti\u00eau hi\u1ec7n t\u1ea1i c\u1ee7a h\u1ec7 th\u1ed1ng Robot trong thay kh\u1edbp g\u1ed1i to\u00e0n ph\u1ea7n<\/a> l\u00e0 c\u1ea3i thi\u1ec7n \u0111\u1ed9 ch\u00ednh x\u00e1c trong ph\u1eabu thu\u1eadt, t\u00e1i t\u1ea1o b\u1ec1 m\u1eb7t kh\u1edbp v\u00e0 t\u1ed1i \u01b0u ho\u00e1 v\u1ecb tr\u00ed c\u00e1c th\u00e0nh ph\u1ea7n kh\u1edbp nh\u00e2n t\u1ea1o d\u1ef1a tr\u00ean ch\u1ee9c n\u0103ng b\u00ecnh th\u01b0\u1eddng c\u1ee7a m\u00f4 m\u1ec1m v\u00e0 cu\u1ed1i c\u00f9ng l\u00e0 c\u00e1i thi\u1ec7n k\u1ebft qu\u1ea3 ph\u1eabu thu\u1eadt. S\u1ef1 ph\u1ee5c h\u1ed3i gi\u1ea3i ph\u1eabu v\u1edbi t\u1ed1i \u01b0u ho\u00e1 s\u1ef1 c\u00e2n b\u1eb1ng ph\u1ea7n m\u1ec1m, t\u00e1i t\u1ea1o l\u1ea1i c\u00e1c tr\u1ee5c c\u01a1 h\u1ecdc v\u00e0 \u0111\u1ed9ng h\u1ecdc kh\u1edbp g\u1ed1i cho thay nh\u1eefng \u01b0u th\u1ebf c\u1ee7a ph\u1eabu thu\u1eadt thay kh\u1edbp g\u1ed1i c\u00f3 h\u1ed7 tr\u1ee3 c\u1ee7a robot [24],[25],[26],[27 \u1eca. Tuy nhi\u00ean nh\u1eefng \u0111\u00e1nh gi\u00e1 l\u00e2m s\u00e0ng t\u1eeb vi\u1ec7c c\u1ea3i thi\u1ec7n \u0111\u1ed9 ch\u00ednh x\u00e1c \u1edb ph\u1eabu thu\u1eadt thay kh\u1edbp g\u1ed1i to\u00e0n ph\u1ea7n c\u00f3 robot h\u1ed7\u00a0 tr\u1ee3 v\u0103n \u0111ang l\u00e0 m\u1ed9t ch\u1ee7 \u0111\u1ec1 g\u00e2y tranh c\u00e3i[28],[29]. <\/strong><\/p>\n

T\u00e1c gi\u1ea3 : PGS.TS. Tr\u1ea7n Trung D\u0169ng<\/span><\/p>\n

Ng\u00e0y ph\u00e1t h\u00e0nh:<\/span><\/p>\n

1. L\u1ecbch s\u1eed c\u1ee7a thay kh\u1edbp g\u1ed1i b\u1eb1ng robot<\/b><\/h2>\n

H\u1ec7 th\u1ed1ng robot k\u1ebft h\u1ee3p v\u1edbi \u0111\u1ecbnh v\u1ecb (navigation) ban \u0111\u1ea7u \u0111\u01b0\u1ee3c ph\u00e1t tri\u1ec3n \u0111\u1ebf c\u1ea3i thi\u1ec7n k\u1ebft qu\u1ea3 l\u00e2m s\u00e0ng v\u00e0 ch\u1ee9c n\u0103ng c\u1ee7a ph\u1eabu thu\u1eadt thay kh\u1edbp g\u1ed1i to\u00e0n ph\u1ea7n. C\u00e1c h\u1ec7 th\u1ed1ng n\u00e0y \u0111\u01b0\u1ee3c ph\u00e2n lo\u1ea1i th\u00e0nh 3 lo\u1ea1i ch\u00ednh:\u00a0 \u00a0 <\/span><\/p>\n

    \n
  • \u00a0H\u1ec7 th\u1ed1ng robot th\u1ee5 \u0111\u1ed9ng ho\u1ea1t \u0111\u1ed9ng d\u01b0\u1edbi s\u1ef1 \u0111i\u1ec1u khi\u1ec3n tr\u1ef1c ti\u1ebfp v\u00e0 li\u00ean t\u1ee5c c\u1ee7a ph\u1eabu thu\u1eadt vi\u00ean.<\/span><\/li>\n
  • \u00a0H\u1ec7 th\u1ed1ng robot ch\u1ee7 \u0111\u1ed9ng thao t\u00e1c m\u1ed9t c\u00e1ch \u0111\u1ed9c l\u1eadp, kh\u00f4ng ph\u1ee5 thu\u1ed9c v\u00e0o ph\u1eabu thu\u1eadt vi\u00ean.<\/span><\/li>\n
  • \u00a0H\u1ec7 th\u1ed1ng b\u00e1n ch\u1ee7 \u0111\u1ed9ng cung c\u1ea5p s\u1ef1 ph\u1ea3n h\u1ed3i gi\u00fap t\u0103ng kh\u1ea3 n\u0103ng \u0111i\u1ec1u khi\u1ec3n d\u1ee5ng c\u1ee5 c\u1ee7a ph\u1eabu thu\u1eadt vi\u00ean, th\u01b0\u1eddng l\u00e0 c\u00e1c ph\u1ea3n h\u1ed3i x\u00fac gi\u00e1c.\u00a0<\/span><\/li>\n<\/ul>\n

    C\u00e1c h\u1ec7 th\u1ed1ng robot ban \u0111\u1ea7u bao g\u1ed3m th\u1ee5 \u0111\u1ed9ng ho\u1eb7c b\u00e1n ch\u1ee7 \u0111\u1ed9ng, th\u01b0\u1eddng c\u00f3 nhi\u1ec1u h\u1ea1n ch\u1ebf trong vi\u1ec7c c\u1eaft\u1eaft x\u01b0\u01a1ng. V\u00ec v\u1eady ch\u1ec9 c\u00f3 m\u1ed9t s\u1ed1 \u00edt c\u00e1c h\u1ec7 th\u1ed1ng n\u00e0y \u0111\u01b0\u1ee3c \u0111\u01b0a v\u00e0o \u1ee9ng d\u1ee5ng trong l\u00e2m s\u00e0ng.<\/span><\/p>\n

    H\u1ec7 th\u1ed1ng robot ch\u00fa \u0111\u1ed9ng (hay t\u1ef1 \u0111\u1ed9ng) t\u1ef1 v\u1eadn h\u00e0nh c\u00e1c thao t\u00e1c ph\u1eabu thu\u1eadt, \u0111\u1ed9c l\u1eadp v\u1edbi ph\u1eabu thu\u1eadt vi\u00ean m\u00e0 kh\u00f4ng c\u1ea7n s\u1ef1 tr\u1ee3 gi\u00fap n\u00e0o. C\u00e1c thi\u1ebft k\u1ebf ban \u0111\u1ea7u \u0111\u00e3 \u0111\u01b0\u1ee3c ph\u00e1t tri\u1ec3n qua m\u1ed9t s\u1ed1 n\u0103m. Trong \u0111\u00f3 c\u00f3 h\u1ec7 th\u1ed1ng ROBODOC (Curexo Technology, Fremont, California) v\u00e0 CASPAR (URS Ortho, Rastatt, Germany). ROBODOC l\u00e0 h\u1ec7 th\u1ed1ng robot \u0111\u1ea7u ti\u00ean \u0111\u01b0\u1ee3c s\u1eed d\u1ee5ng l\u00e2m s\u00e0ng trong ph\u1eabu thu\u1eadt ch\u1ec9nh h\u00ecnh. C\u00e1c th\u1eed nghi\u1ec7m l\u00e2m s\u00e0ng ban \u0111\u1ea7u b\u1eaft \u0111\u1ea7u t\u1eeb n\u0103m 1994, v\u00e0 \u0111\u01b0\u1ee3c ph\u00ea duy\u1ec7t b\u1edfi FDA n\u0103m 2008 [32], Th\u00e0nh c\u00f4ng v\u00e0 s\u1ef1 h\u1eefu \u00edch c\u1ee7a n\u00f3 \u0111\u00e3 \u0111\u01b0\u1ee3c ch\u1ee9ng minh b\u1edfi m\u1ed9t lo\u1ea1t c\u00e1c th\u1eed nghi\u1ec7m l\u00e2m s\u00e0ng [33],[34]. Trong <\/span>2 nghi\u00ean c\u1ee9u ti\u1ebfn c\u1ee9u so s\u00e1nh thay kh\u1edbp g\u1ed1i to\u00e0n ph\u1ea7n c\u00f3 s\u1ef1 h\u1ed7 tr\u1ee3 c\u1ee7a h\u1ec7 th\u1ed1ng ROBODOC v\u00e0 thay kh\u1edbp g\u1ed1i truy\u1ec1n th\u1ed1ng, nh\u00f3m s\u1eed d\u1ee5ng robot kh\u00f4i ph\u1ee5c tr\u1ee5c c\u01a1 h\u1ecdc ch\u00ednh x\u00e1c h\u01a1n<\/span>v\u00e0 \u00edt c\u00f3 s\u1ef1 dao \u0111\u1ed9ng h\u01a1n,tuy nhi\u00ean th\u1eddi gian m\u1ed5 l\u1ea1i k\u00e9o d\u00e0i trung b\u00ecnh h\u01a1n so v\u1edbi m\u1ed5 thay kh\u1edbp truy\u1ec1n th\u1ed1ng l\u00e0 25 ph\u00fat, k\u1ebft qu\u1ea3 ch\u1ee9c n\u0103ng theo \u0111\u00e1nh gi\u00e1 ch\u1ee7 quan c\u1ee7a b\u1ec7nh nh\u00e2n gi\u00e0 kh\u00f4ng c\u00f3 s\u1ef1 kh\u00e1c bi\u1ec7t [35],[36]. Nh\u1eefng h\u1ea1n ch\u1ebf ban \u0111\u1ea7u t\u1eadp trung v\u00e0o vi\u1ec7c gi\u00e1n \u0111o\u1ea1n ph\u1eabu thu\u1eadt do v\u1eadn h\u00e0nh m\u00e1y v\u00e0 k\u00e9o d\u00e0i th\u1eddi gian ph\u1eabu thu\u1eadt.\u00a0<\/span><\/p>\n

    CASPAR l\u00e0 m\u1ed9t h\u1ec7 th\u1ed1ng robot t\u1ef1 \u0111\u1ed9ng kh\u00e1c \u0111\u01b0\u1ee3c ph\u00e1t tri\u1ec3n kh\u00e1 s\u1edbm. C\u00e1c k\u1ebft qu\u1ea3 ban \u0111\u1ea7u ch\u1ee7 y\u1ebfu l\u00e0 c\u1ea3i thi\u1ec7n t\u00ednh \u0111\u1ed3ng nh\u1ea5t v\u00e0 kh\u00f4i ph\u1ee5c tr\u1ee5c c\u01a1 h\u1ecdc c\u1ee7a chi d\u01b0\u1edbi. nhi\u1ec1u\u00a0 nghi\u00ean c\u1ee9u \u0111\u00e3 ch\u1ee9ng minh t\u1ea7m quan tr\u1ecdng c\u1ee7a tr\u1ee5c c\u01a1 h\u1ecdc \u0111\u1ebfn ch\u1ee9c n\u0103ng, k\u1ebft qu\u1ea3 ph\u1eabu thu\u1eadt v\u00e0 tu\u1ed5i th\u1ecd c\u1ee7a kh\u1edbp g\u1ed1i to\u00e0n ph\u1ea7n nh\u00e2n t\u1ea1o[78],[79|. C\u00e1c b\u00e1o c\u00e1o l\u00e2m s\u00e0ng trong giai \u0111o\u1ea1n \u0111\u1ea7u ghi nh\u1eadn s\u1ef1 kh\u00f4i ph\u1ee5c tr\u1ee5c c\u01a1 h\u1ecdc n\u1eb1m trong kho\u1ea3ng 1\u00b0 [34],[41] so v\u1edbi 2,6\u00b0 \u1edd nh\u00f3m ph\u1eabu thu\u1eadt thay kh\u1edbp g\u1ed1i truy\u1ec1n th\u1ed1ng. Kh\u00f4ng c\u00f3 k\u1ebft qu\u1ea3 b\u1ea5t l\u1ee3i n\u00e0o \u0111\u01b0\u1ee3c b\u00e1o c\u00e1o [80].<\/span><\/p>\n

    H\u1ec7 th\u1ed1ng c\u00e1nh tay robot t\u01b0\u01a1ng t\u00e1c (RIO; MAKO Stryker, Fort Lauderdale, Florida) l\u00e0 m\u1ed9t h\u1ec7 th\u1ed1ng haptic s\u1eed d\u1ee5ng trong th\u1ef1c h\u00e0nh l\u00e2m s\u00e0ng ph\u1eabu thu\u1eadt thay kh\u1edbp g\u1ed1i b\u00e1n ph\u1ea7n. Phim ch\u1ee5p c\u1eaft l\u1edbp vi t\u00ednh (CLVT) tr\u01b0\u1edbc m\u1ed5 \u0111\u01b0\u1ee3c d\u00f9ng \u0111\u1ec3 l\u00ean k\u1ebf ho\u1ea1ch ph\u1eabu thu\u1eadt gi\u00fap x\u00e1c \u0111\u1ecbnh k\u00edch c\u1ee1, v\u1ecb tr\u00ed kh\u1edbp nh\u00e2n t\u1ea1o, m\u1ee9c c\u1eaft x\u01b0\u01a1ng; nh\u1eefng v\u1ea5n \u0111\u1ec1 n\u00e0y \u0111\u01b0\u1ee3c x\u00e1c \u0111\u1ecbnh v\u00e0 hi\u1ec7u chinh trong m\u1ed5 d\u1ef1a tr\u00ean \u0111\u1ed9ng h\u1ecdc kh\u1edbp g\u1ed1i c\u1ee7a b\u1ec7nh nh\u00e2n. M\u1ed9t s\u1ed1 c\u00e1c nghi\u00ean c\u1ee9u cho th\u1ea5y r\u1eb1ng, khi so s\u00e1nh v\u1edbi k\u1ef9 thu\u1eadt truy\u1ec1n th\u1ed1ng, ph\u1eabu thu\u1eadt thay kh\u1edbp g\u1ed1i to\u00e0n ph\u1ea7n v\u1edbi h\u1ec7 th\u1ed1ng robot t\u0103ng \u0111\u00e1ng k\u1ec3 s\u1ef1 ch\u00ednh x\u00e1c trong t\u00e1i t\u1ea1o l\u1ea1i g\u00f3c nghi\u00eang sau (g\u00f3c Slope) c\u1ee7a m\u00e2m ch\u00e0y tr\u00ean m\u1eb7t ph\u1eb3ng \u0111\u1ee9ng d\u1ecdc v\u00e0 s\u1ef1 vu\u00f4ng g\u00f3c c\u1ee7a l\u00e1t c\u1eaft ch\u00e0y tr\u00ean m\u1eb7t ph\u1eb3ng \u0111\u1ee9ng ngang [44],[45],[46]. Ph\u1eabu thu\u1eadt thay kh\u1edbp g\u1ed1i b\u00e1n ph\u1ea7n l\u00e0 m\u1ed9t k\u1ef9 thu\u1eadt t\u01b0\u01a1ng \u0111\u1ed1i m\u1edbi v\u00e0 kh\u00f3. V\u1edbi s\u1ef1 tr\u1ee3 gi\u00fap c\u1ee7a h\u1ec7 th\u1ed1ng robot, c\u00e1c ph\u1eabu thu\u1eadt vi\u00ean s\u1ebd ti\u1ebfp c\u1eadn v\u1edbi k\u1ef9 thu\u1eadt m\u1ed9t c\u00e1ch d\u1ec5 d\u00e0ng v\u00e0 ch\u00ednh x\u00e1c h\u01a1n [46],[47],[48],<\/span>\"\"\"\"
    \n
    \n<\/span><\/p>\n

    \"\"<\/p>\n

    \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0H\u00ecnh 7,6. C\u00e1c h\u1ec7 th\u1ed1ng robot trong ph\u1eabu thu\u1eadt thay kh\u1edbp g\u1ed5i[32] a. h\u1ec7 th\u1ed1ng CASPAR b. h\u1ec7 <\/span><\/i><\/p>\n

    \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 th\u1ed1ng ROBOTDOC c. h\u1ec7 thong MAKO<\/span><\/i><\/p>\n

    2\u00a0 M\u1ed9t s\u1ed1 y\u1ebfu t\u1ed1 quan tr\u1ecdng trong ph\u1eabu thu\u1eadt thay kh\u1edbp\u00a0 g\u1ed1i b\u1eb1ng Robot<\/strong><\/h2>\n

    2 .1\u00a0 Tr\u1ee5c c\u01a1 h\u1ecdc<\/b><\/h3>\n

    T\u1ea7m quan tr\u1ecdng c\u1ee7a tr\u1ee5c c\u01a1 h\u1ecdc \u0111\u1ebfn tu\u1ed5i th\u1ecd c\u1ee7a kh\u1edbp g\u1ed1i nh\u00e2n t\u1ea1o \u0111\u00e3 \u0111\u01b0\u1ee3c nhi\u1ec1u t\u00e0i li\u1ec7u ghi nh\u1eadn [40],[49],[50]. \u0110\u00e2y l\u00e0 m\u1ed9t bi\u1ebfn s\u1ed5 ph\u1eabu thu\u1eadt \u0111\u00e3 \u0111\u01b0\u1ee3c b\u00e1o c\u00e1o c\u00f3 s\u1ef1 kh\u00e1c bi\u1ec7t \u0111\u00e1ng k\u1ec3. S\u1ef1 thay \u0111\u1ed5i tr\u1ee5c c\u01a1 h\u1ecdc l\u1edbn h\u01a1n 5\u00b0 \u1edf h\u01a1n 30% b\u1ec7nh nh\u00e2n \u0111\u00e3 \u0111\u01b0\u1ee3c b\u00e1o c\u00e1o \u01b0 m\u1ed9t s\u1ed1 nghi\u00ean c\u1eedu [40],<\/span><\/p>\n

    Ph\u1eabu thu\u1eadt thay kh\u1edbp g\u1ed1i to\u00e0n ph\u1ea7n\u00a0 c\u00f3 robot h\u1ed7 tr\u1ee3 \u0111\u01b0\u1ee3c d\u00f9ng \u0111\u1ec3 so s\u00e1nh 02 ph\u01b0\u01a1ng ph\u00e1p c\u1eaft x\u01b0\u01a1ng d\u1ef1a tr\u00ean s\u1ef1 ch\u00ednh x\u00e1c c\u1ee7a vi\u1ec7c kh\u00f4i ph\u1ee5c tr\u1ee5c c\u01a1 h\u1ecdc v\u00e0 c\u00e1c l\u00e1t c\u1eaft x\u01b0\u01a1ng l\u1ed3i c\u1ea7u \u0111\u00f9i . K\u1ef9 thu\u1eadt c\u1eaft x\u01b0\u01a1ng d\u1ef1a tr\u00ean vi\u1ec7c c\u1eaft x\u01b0\u01a1ng \u0111\u00f9i v\u00e0 x\u01b0\u01a1ng ch\u00e0y vu\u00f4ng g\u00f3c v\u1edbi tr\u1ee5c c\u01a1 h\u1ecdc,\u00a0 K\u1ef9 thu\u1eadt c\u1eaft x\u01b0\u01a1ng kh\u00e1c l\u1ea1i c\u1eaft x\u01b0\u01a1ng theo gi\u1ea3i ph\u1eabu, t\u1ee9c l\u00e0 c\u1eaft x\u01b0\u01a1ng ch\u00e0y v\u1eb9o trong \u1edb m\u1eb7t ph\u1eb3ng \u0111\u1ee9ng ngang v\u00e0 c\u1eaft x\u01b0\u01a1ng \u0111\u00f9i v\u1eb9o ngo\u00e0i \u0111\u1ed1i x\u1ee9ng \u0111\u1ec3 t\u1ea1o ra tr\u1ee5c c\u01a1 h\u1ecdc trung t\u00ednh [55],[56],[57], M\u1ed9t h\u1ec7 th\u1ed1ng robot \u0111\u00e3 \u0111\u01b0\u1ee3c d\u00f9ng trong nghi\u00ean c\u1ee9u ti\u1ebfn c\u1ee9u ng\u1eabu nhi\u00ean \u1edd h\u01a1n ] 00 b\u1ec7nh nh\u00e2n so s\u00e1nh gi\u1eefa 2 ph\u01b0\u01a1ng ph\u00e1p c\u1eaft x\u01b0\u01a1ng n\u00e0y. Kh\u00f4ng c\u00f3 S\u1ef1 kh\u00e1c bi\u1ec7t trong \u0111\u1ed9 l\u1ecfng g\u1ed1i v\u1eb9o trong- ngo\u00e0i, \u0111i\u1ec3m WOMAC, bi\u00ean \u0111\u1ed9 v\u1eadn \u0111\u1ed9ng v\u00e0 \u0111i\u1ec3m Harris Hip [58].<\/span><\/p>\n

    2.2\u00a0<\/strong> <\/span>S\u1ef1 thay \u0111\u1ed5i khe kh\u1edbp g\u1ed1i (Joint line)<\/b><\/h3>\n

    S\u1ef1 thay \u0111\u1ed5i c\u1ee7a khe kh\u1edbp g\u1ed1i l\u1edbn h\u01a1n 5 min c\u00f3 li\u00ean quan \u0111\u1ebfn k\u1ebft qu\u1ea3 ph\u1eabu thu\u1eadt k\u00e9m, bao g\u1ed3m x\u01b0\u01a1ng b\u00e1nh ch\u00e8 b\u1ecb xu\u1ed1ng th\u1ea5p, c\u1ea5n x\u01b0\u01a1ng b\u00e1nh ch\u00e8, v\u00e0 \u0111au m\u1eb7t tr\u01b0\u1edbc g\u1ed1i. C\u00e1c nghi\u00ean c\u1ee9u kh\u00e1c cho r\u1eb1ng s\u1ef1 thay \u0111\u1ed5i khe kh\u1edbp g\u1ed1i c\u00f3 th\u1ec3 d\u1eabn \u0111\u1ebfn m\u1ea5t v\u1eebng \u1edf kho\u1ea3ng n\u1eeda g\u1ea5p [59].C\u00d3 r\u1ea5t \u00edt c\u00e1c nghi\u00ean c\u1ee9u t\u1eadp trung v\u00e0o s\u1ef1 ch\u00ednh x\u00e1c c\u1ee7a khe kh\u1edbp g\u1ed1i.\u00a0<\/span><\/p>\n

    2.3\u00a0 Th\u1eddi gian ph\u1eabu thu\u1eadt<\/b><\/h3>\n

    Vi\u1ec7c t\u1eadp trung v\u00e0o gi\u1ea3m c\u00e1c sai l\u1ec7ch v\u00e0 t\u0103ng \u0111\u1ed9 ch\u00ednh x\u00e1c s\u1ebd l\u00e0m t\u0103ng th\u1eddi gian ph\u1eabu thu\u1eadt. D\u1ef1a v\u00e0o m\u1ed9t s\u1ed1 kh\u00f3 kh\u0103n ban \u0111\u1ea7u v\u1edbi h\u1ec7 th\u1ed1ng ROBODOC, c\u00e1c nghi\u00ean c\u1ee9u \u0111\u00e0 t\u1eadp trung v\u00e0o h\u1ec7 th\u1ed1ng n\u00e0y .C\u00e1c l\u1ed7i ph\u1ed5 bi\u1ebfn nh\u1ea5t th\u01b0\u1eddng x\u1ea3y ra sau khi b\u1eaft \u0111\u1ea7u giai \u0111o\u1ea1n c\u1eaft x\u01b0\u01a1ng [32], C\u00f3 nhi\u1ec1u t\u0103ng th\u00ec ph\u1eabu thu\u1eadt c\u00f3 th\u1ec3 x\u1ea3y ra gi\u00e1n \u0111o\u1ea1n, v\u1edbi c\u00e1c nghi\u00ean c\u1ee9u kh\u00e1c b\u00e1o c\u00e1o t\u1ef7 l\u1ec7 nh\u1ecf h\u01a1n 5% [52], B\u1ea5t k\u1ec3 t\u1ef7 l\u1ec7 gi\u00e1n \u0111o\u1ea1n ph\u1eabu thu\u1eadt th\u1ec3 n\u00e0o, vi\u1ec7c t\u0103ng th\u1eddi gian ph\u1eabu thu\u1eadt \u0111\u01b0\u1ee3c cho l\u00e0 y\u1ebfu t\u1ed1 nguy c\u01a1 g\u00e2y nhi\u1ec5m tr\u00f9ng kh\u1edbp [61]. \u0110\u00e2y v\u1eabn l\u00e0 m\u1ed9t nh\u01b0\u1ee3c \u0111i\u1ec3m l\u1edbn c\u1ee7a ph\u1eabu thu\u1eadt thay kh\u1edbp g\u1ed1i v\u1edbi s\u1ef1 h\u1ed7 tr\u1ee3 c\u1ee7a robot.<\/span><\/p>\n

    3 . Nh\u1eefng \u0111\u1ed5i m\u00fai trong t\u01b0\u01a1ng lai c\u1ee7a ph\u1eabu thu\u1eadt thay kh\u1edbp g\u1ed1i v\u1edbi s\u1ef1 h\u1ed7 tr\u1ee3\u2019 c\u1ee7a <\/b>robot\u00a0<\/b><\/h2>\n

    Thi\u1ebft k\u1ebf hi\u1ec7n t\u1ea1i t\u1eadp trung v\u00e0o gi\u1ea3m s\u1ef1 sai l\u1ec7ch v\u00e0 c\u1ea3i thi\u1ec7n \u0111\u1ed9 ch\u00ednh x\u00e1c tr\u00ean k\u1ebft qu\u1ea3 X-quang. Nh\u1eefng thi\u1ebft k\u1ebf Robot trong t\u01b0\u01a1ng lai s\u1ebd t\u1eadp trung v\u00e0o v\u1eadt li\u1ec7u c\u1ea5y gh\u00e9p gi\u00fap t\u00e1i t\u1ea1o l\u1ea1i \u0111\u1ed9ng h\u1ecdc b\u00ecnh th\u01b0\u1eddng c\u1ee7a kh\u1edbp g\u1ed1i. Nh\u1eefng \u0111\u1ed5i m\u1edbi n\u00e0y s\u1ebd \u0111\u01b0\u1ee3c th\u1ef1c hi\u1ec7n theo c\u00e1ch \u0111\u01a1n gi\u1ea3n ho\u00e1 quy tr\u00ecnh v\u00e0 gi\u00fap c\u00e1c ph\u1eabu thu\u1eadt vi\u00ean ti\u1ebfp c\u1eadn k\u1ef9 thu\u1eadt d\u1ec5 d\u00e0ng h\u01a1n. R\u1ea5t kh\u00f3 \u0111\u1ec3 d\u1ef1 \u0111o\u00e1n \u0111\u01b0\u1ee3c c\u00e1c c\u00f4ng ngh\u1ec7 m\u1edbi s\u1ebd \u0111\u01b0\u1ee3c s\u1eed d\u1ee5ng trong ph\u1eabu thu\u1eadt thay kh\u1edbp g\u1ed1i c\u00f3 robot h\u1ed7 tr\u1ee3. C\u00e1c l\u0129nh v\u1ef1c then ch\u1ed1t bao g\u1ed3m ph\u00e2n t\u00edch tr\u01b0\u1edbc m\u1ed5, c\u1ea3m bi\u1ebfn trong m\u1ed5, v\u00e0 thi\u1ebft b\u1ecb ki\u1ec3m so\u00e1t t\u1ef1 \u0111\u1ed9ng.<\/span><\/p>\n

    L\u1eadp k\u1ebf ho\u1ea1ch tr\u01b0\u1edbc m\u1ed5 v\u1edbi c\u00f4ng ngh\u1ec7 robot hi\u1ec7n nay th\u01b0\u1eddng li\u00ean quan \u0111\u1ebfn m\u1ed9t S\u1ed1 ph\u01b0\u01a1ng ti\u1ec7n ch\u1ea9n \u0111o\u00e1n h\u00ecnh \u1ea3nh, nh\u01b0 CT hay X-quang, \u0111\u1ec3 \u0111\u00e1nh d\u1ea5u quy chi\u1ebfu c\u00e1c m\u1ed1c gi\u1ea3i ph\u1eabu v\u00e0o cho h\u1ec7 th\u1ed1ng robot \u0111\u1ebf x\u00e1c \u0111\u1ecbnh ranh gi\u1edbi v\u00e0 k\u1ebf ho\u1ea1ch ph\u1eabu thu\u1eadt.<\/span><\/p>\n

    B\u01b0\u1edbc ti\u1ebfp tico l\u00e0 v\u01b0\u1ee3t qua c\u1ea3 ch\u1ea9n \u0111o\u00e1n h\u00ecnh \u1ea3nh \u0111\u1ec3 \u0111\u00e1nh gi\u00e1 chuy\u1ec3n \u0111\u1ed9ng c\u1ee7a kh\u1edbp g\u1ed1i tr\u01b0\u1edbc khi b\u1ecb thay \u0111\u1ed5i b\u1eddi b\u1ec7nh l\u00fd tho\u00e1i h\u00f3a kh\u1edbp. K\u1ebf ho\u1ea1ch tr\u01b0\u1edbc ph\u1eabu thu\u1eadt s\u1ebd \u0111\u01b0\u1ee3c s\u1eed d\u1ee5ng \u0111\u1ec3 t\u00e1i t\u1ea1o gi\u1ea3i ph\u1eabu v\u00e0 \u0111\u1ed9ng h\u1ecdc mong mu\u1ed1n. C\u00e1c thi\u1ebft b\u1ecb robot ki\u1ec3m so\u00e1t s\u1ebd h\u1ed7 tr\u1ee3 cho c\u00e1c d\u1ee5ng c\u1ee5 c\u1ea5t hi\u1ec7n t\u1ea1i \u0111\u1ecbnh v\u1ecb kh\u1edbp nh\u00e2n t\u1ea1o theo k\u1ebf ho\u1ea1ch tr\u01b0\u1edbc ph\u1eabu thu\u1eadt, C\u00e1c thi\u1ebft b\u1ecb \u0111\u1ecbnh v\u1ecb \u0111\u00f3ng m\u1ed9t vai tr\u00f2 quan tr\u1ecdng trong kh\u1ea3 n\u0103ng x\u00e1c \u0111\u1ecbnh v\u1ecb tr\u00ed trong kh\u00f4ng gian c\u1ee7a robot. C\u00e1c k\u1ef9 thu\u1eadt \u0111\u1ecbnh v\u1ecb truy\u1ec1n th\u1ed1ng d\u1ef1a v\u00e0o CT, m\u00e0n hu\u1ef3nh quang t\u0103ng s\u00e1ng, v\u00e0 m\u1ed1c c\u01a1 h\u1ecdc \u0111\u1ec3 x\u00e1c \u0111\u1ecbnh gi\u1ea3i ph\u1eabu. Vi\u1ec7c \u0111i\u1ec1u ch\u1ec9nh v\u00e0 h\u01b0\u1edbng d\u1eabn c\u1ee7a c\u00e1c thi\u1ebft b\u1ecb \u0111\u1ecbnh v\u1ecb n\u00e0y d\u1ef1a tr\u00ean c\u00e1c thi\u1ebft b\u1ecb quang h\u1ecdc v\u00e0 \u0111i\u1ec7n t\u1eeb r\u01b0\u1eddm r\u00e0, Vi\u1ec7c ph\u00e1t tri\u1ec3n c\u00e1c thi\u1ebft b\u1ecb m\u1edbi, ch\u1eb3ng h\u1ea1n nh\u01b0 c\u1eaft x\u01b0\u01a1ng kh\u00f4ng c\u1ea7n \u0111\u1ecbnh v\u1ecb, c\u00f3 kh\u1ea3 n\u0103ng lo\u1ea1i b\u1ecf s\u1ef1 c\u1ea7n thi\u1ebft c\u1ee7a d\u1ee5ng c\u1ee5 \u0111\u1eb7c tr\u01b0ng cho th\u00e0nh ph\u1ea7n kh\u1edbp nh\u00e2n t\u1ea1o c\u00f9ng v\u1edbi c\u00e1c ph\u01b0\u01a1ng ti\u1ec7n \u0111\u1ecbnh v\u1ecb truy\u1ec1n th\u1ed1ng [62],<\/span><\/p>\n

    C\u00e1c c\u1ea3m bi\u1ebfn trong m\u1ed5 s\u1ebd r\u1ea5t c\u1ea7n thi\u1ebft cho vi\u1ec7c th\u1ef1c hi\u1ec7n ph\u1eabu thu\u1eadt theo k\u1ebf ho\u1ea1ch tr\u01b0\u1edbc m\u1ed3. \u0110o \u00e1p l\u1ef1c v\u00e0 \u0111i\u1ec3m ti\u1ebfp x\u00fac tr\u00ean c\u00e1c kh\u1edbp v\u00e0 d\u1ee5ng c\u1ee5 c\u1ea5y gh\u00e9p khi kh\u1edbp v\u1eadn \u0111\u1ed9ng s\u1ebd \u0111\u1ecbnh l\u01b0\u1ee3ng lioa vi\u1ec7c ki\u1ec3m so\u00e1t c\u00e2n b\u1eb1ng ph\u1ea7n m\u1ec1m hi\u1ec7n t\u1ea1i d\u1ef1a v\u00e0o c\u1ea3m gi\u00e1c. B\u00e1c s\u0129 ph\u1eabu thu\u1eadt s\u1ebd \u0111\u01b0\u1ee3c cung c\u1ea5p th\u00f4ng tin ph\u1ea3n h\u1ed3i theo th\u1eddi gian th\u1ef1c \u0111\u1ec3 c\u00e1i thi\u1ec7n c\u00e1c l\u00e1t c\u1eaft x\u01b0\u01a1ng, s\u1ee9c c\u0103ng ph\u1ea7n m\u1ec1m, v\u00e0 c\u00e2n b\u1eb1ng d\u00e2y ch\u1eb1ng \u0111\u1ec3 \u0111\u1ea1t \u0111\u01b0\u1ee3c k\u1ebft qu\u1ea3 ho\u00e0n h\u1ea3o. Kh\u00e1i ni\u1ec7m \u201cth\u1eed nghi\u1ec7m\u201d kh\u1edbp g\u1ed1i s\u1ebd \u0111\u01b0\u1ee3c x\u00e1c \u0111\u1ecbnh l\u1ea1i. Thay v\u00ec x\u00e1c \u0111\u1ecbnh r\u1eb1ng c\u00e1c th\u00e0nh ph\u1ea7n kh\u1edbp nh\u00e2n t\u1ea1o c\u00f3 k\u00edch th\u01b0\u1edbc ch\u00ednh x\u00e1c hay kh\u00f4ng, vi\u1ec7c t\u00e1i t\u1ea1o \u0111\u1ed9ng h\u1ecdc \u0111au g\u1ed1i s\u1ebd \u0111\u01b0\u1ee3c xem x\u00e9t. Nh\u1eefng lily \u0111\u1ed1i n\u00e0y s\u1ebd \u0111\u01b0\u1ee3c th\u1ef1c hi\u1ec7n b\u1eb1ng c\u00e1ch s\u1eed d\u1ee5ng c\u00e1c thi\u1ebft b\u1ecb \u0111i\u1ec1u khi\u1ec3n b\u1eb1ng robot, n\u01a1i m\u00e0 c\u00e1c thi\u1ebft b\u1ecb ph\u1ea3n h\u1ed3i x\u00fac gi\u00e1c (haptic) s\u1ebd cung c\u1ea5p ph\u1ea3n h\u1ed3i ri\u00eang bi\u1ec7t \u0111\u1ec3 h\u1ed7 tr\u1ee3 cho ph\u1eabu thu\u1eadt vi\u00ean. Hi\u1ec7n c\u00f3 nhi\u1ec1u lo\u1ea1i c\u1ea3m bi\u1ebfn \u0111ang \u0111\u01b0\u1ee3c ph\u00e1t tri\u1ec3n [63],[64],[65].<\/span><\/p>\n

    Ph\u1ea3n h\u1ed3i x\u00fac gi\u00e1c (haptic) \u0111\u00e3 tr\u1edf th\u00e0nh m\u1ed9t s\u1ef1 \u0111\u1ed5i m\u1edbi quan tr\u1ecdng trong ph\u1eabu thu\u1eadt c\u00f3 h\u1ed7 tr\u1ee3 robot. H\u1ec7 th\u1ed1ng \u0111\u1ecbnh v\u1ecb v\u1edbi h\u1ed7 tr\u1ee3 c\u1ee7a m\u00e1y t\u00ednh \u0111\u01b0\u1ee3c s\u1eed d\u1ee5ng \u0111\u1ebf tham chi\u1ebfu c\u00e1c m\u1ed1c gi\u1ea3i ph\u1eabu \u0111\u1ec3 x\u00e1c \u0111\u1ecbnh v\u1ecb tr\u00ed c\u1ee7a th\u00e0nh ph\u1ea7n kh\u1edbp nh\u00e2n t\u1ea1o trong kh\u00f4ng gian. C\u00e1c thi\u1ebft b\u1ecb ph\u1ea3n h\u1ed3i x\u00fac gi\u00e1c cho ph\u00e9p c\u00e1c ranh gi\u1edbi \u0111\u01b0\u1ee3c x\u00e1c \u0111\u1ecbnh tr\u01b0\u1edbc t\u1eeb c\u00f4ng ngh\u1ec7 \u0111\u1ecbnh v\u1ecb n\u00e0y gi\u00fap robot tr\u1edf th\u00e0nh tr\u1ee3 l\u00fd ph\u1eabu thu\u1eadt thay cho ph\u1eabu thu\u1eadt vi\u00ean. Thay v\u00ec m\u1ed9t h\u1ec7 th\u1ed1ng t\u1ef1 \u0111\u1ed9ng m\u00e0 robot ki\u1ec3m so\u00e1t c\u00e1c l\u00e1t c\u1eaft m\u00e0 kh\u00f4ng c\u00f3 s\u1ef1 h\u1ed7 tr\u1ee3 c\u1ee7a ph\u1eabu thu\u1eadt vi\u00ean, robot s\u1ebd t\u1ea1o ra l\u1ef1c \u0111\u1ec1 kh\u00e1ng khi ph\u1eabu thu\u1eadt vi\u00ean \u0111i ch\u1ec7ch kh\u1ecfi k\u1ebf ho\u1ea1ch tr\u01b0\u1edbc m\u1ed5 [66]. M\u1ed9t th\u00e1ch th\u1ee9c trong ph\u1eabu thu\u1eadt d\u1ef1a v\u00e0o thi\u1ebft b\u1ecb ph\u1ea3n h\u1ed3i x\u00fac gi\u00e1c (haptic) l\u00e0 gi\u1eef cho c\u00e1c ph\u1ea3n h\u1ed3i \u0111\u01b0\u1ee3c \u1ed5n \u0111\u1ecbnh v\u00e0 r\u00f5 r\u00e0ng [67], Vi\u1ec7c s\u1eed d\u1ee5ng c\u00e1c haptic gi\u00fap t\u0103ng \u0111\u1ed9 ch\u00ednh x\u00e1c v\u00e0 hi\u1ec7u qu\u1ea3.<\/span><\/p>\n

    C\u00e1c c\u1ea3m bi\u1ebfn trong m\u1ed5 s\u1ebd \u0111\u1ecbnh l\u01b0\u1ee3ng c\u00e1c l\u1ef1c t\u00e1c \u0111\u1ed9ng v\u00e0o kh\u1edbp \u0111\u1ec3 x\u00e1c \u0111\u1ecbnh s\u1ef1 ph\u1ee5c h\u1ed3i \u0111\u1ed9ng h\u1ecdc b\u00ecnh th\u01b0\u1eddng c\u1ee7a kh\u1edbp. \u0110\u1ed9ng l\u1ef1c h\u1ecdc c\u1ee7a c\u00e1c th\u00e0nh ph\u1ea7n kh\u1edbp nh\u00e2n t\u1ea1o s\u1ebd \u0111\u01b0\u1ee3c x\u00e1c \u0111\u1ecbnh l\u1ea1i b\u1eb1ng ph\u00e9p \u0111o th\u1eddi gian th\u1ef1c cho ph\u00e9p t\u1ed1i \u01b0u \u0111\u1ed9ng l\u1ef1c h\u1ecdc th\u00f4ng qua vi\u1ec7c tinh ch\u1ec9nh c\u00e1c l\u00e1t c\u1eaft x\u01b0\u01a1ng v\u00e0 c\u00e2n b\u1eb1ng ph\u1ea7n m\u1ec1m. H\u1ec7 th\u1ed1ng robot cho ph\u00e9p \u0111i\u1ec1u ch\u1ec9nh ch\u00ednh x\u00e1c trong m\u1ed5 d\u1ef1a tr\u00ean c\u1ea5u h\u00ecnh \u0111\u1ed9ng h\u1ecdc t\u1ed1i \u01b0u c\u1ee7a kh\u1edbp g\u1ed1i b\u1ec7nh nh\u00e2n.<\/span><\/p>\n

    C\u00e1c b\u1ec1 m\u1eb7t m\u00f4 ph\u1ecfng sinh h\u1ecdc s\u1ebd tr\u1edf th\u00e0nh c\u00e1c ph\u1ea7n quan tr\u1ecdng c\u1ee7a d\u1ee5ng c\u1ee5 c\u1ea5y gh\u00e9p, gi\u00fap cho kh\u1edbp g\u1ed1i nh\u00e2n t\u1ea1o b\u1eaft ch\u01b0\u1edbc chuy\u1ec3n \u0111\u1ed9ng c\u1ee7a kh\u1edbp g\u1ed1i nguy\u00ean thu\u1ef7 [68],[69], \u0110i\u1ec1u n\u00e0y \u0111\u00f2i h\u1ecfi m\u1ed9t s\u1ef1 hi\u1ec3u bi\u1ebft v\u1ec1 \u0111\u1ed9ng h\u1ecdc b\u00ecnh th\u01b0\u1eddng c\u1ee7a b\u1ec7nh nh\u00e2n. I l\u00ecnh d\u1ea1ng ph\u1ee9c t\u1ea1p c\u1ee7a b\u1ec1 m\u1eb7t kh\u1edbp s\u1ebd \u0111\u01b0\u1ee3c y\u00eau c\u1ea7u \u0111\u1ec3 t\u1ea1o ra c\u00e1c \u0111\u1ed9ng h\u1ecdc ph\u00f9 h\u1ee3p v\u1edbi \u0111\u1ed9ng h\u1ecdc b\u00ecnh th\u01b0\u1eddng. M\u1ee5c ti\u00eau cu\u1ed1i c\u00f9ng c\u1ee7a nh\u1eefng b\u1ec1 m\u1eb7t n\u00e0y l\u00e0 t\u00e1i t\u1ea1o h\u1ec7 th\u1ed1ng li\u00ean k\u1ebft 4 thanh c\u1ee7a kh\u1edbp g\u1ed1i. C\u00e1c th\u00e0nh ph\u1ea7n l\u1edbp nh\u00e2n t\u1ea1o s\u1ebd \u0111\u01b0\u1ee3c \u0111\u1eb7t sao cho ch\u1ee9c n\u0103ng kh\u1edbp g\u1ed1i \u0111\u01b0\u1ee3c ph\u1ee5c h\u1ed3i nh\u01b0 kh\u1edbp g\u1ed1i b\u00ecnh th\u01b0\u1eddng. Ph\u1ea7n m\u1ec1m s\u1ebd tr\u1edf n\u00ean c\u00e2n b\u1eb1ng h\u01a1n gi\u1eefa kho\u1ea3ng g\u1ea5p v\u00e0 kho\u1ea3ng du\u1ed7i v\u00e0 ph\u00f9 h\u1ee3p v\u1edbi \u0111\u1ed9ng h\u1ecdc b\u00ecnh th\u01b0\u1eddng kh\u1edbp g\u1ed1i. C\u00f3 th\u1ec3 \u0111\u1ed1i chi\u1ebfu v\u1edbi g\u1ed1i b\u00ean l\u00e0nh ho\u1eb7c d\u1ef1a tr\u00ean d\u1eef li\u1ec7u nghi\u00ean c\u1ee9u gi\u1ea3i ph\u1eabu.<\/span><\/p>\n

     <\/p>\n","protected":false},"excerpt":{"rendered":"

    M\u1ee5c ti\u00eau hi\u1ec7n t\u1ea1i c\u1ee7a h\u1ec7 th\u1ed1ng Robot trong thay kh\u1edbp g\u1ed1i to\u00e0n ph\u1ea7n l\u00e0 c\u1ea3i thi\u1ec7n \u0111\u1ed9 ch\u00ednh x\u00e1c trong ph\u1eabu thu\u1eadt, t\u00e1i t\u1ea1o b\u1ec1 m\u1eb7t kh\u1edbp v\u00e0 t\u1ed1i \u01b0u ho\u00e1 v\u1ecb tr\u00ed c\u00e1c th\u00e0nh ph\u1ea7n kh\u1edbp nh\u00e2n t\u1ea1o d\u1ef1a tr\u00ean ch\u1ee9c n\u0103ng b\u00ecnh th\u01b0\u1eddng c\u1ee7a m\u00f4 m\u1ec1m v\u00e0 cu\u1ed1i c\u00f9ng l\u00e0 c\u00e1i thi\u1ec7n […]<\/p>\n","protected":false},"author":9,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":[],"categories":[40],"tags":[3],"yoast_head":"\nPh\u1eabu thu\u1eadt thay kh\u1edbp to\u00e0n ph\u1ea7n b\u1eb1ng robot - Vinmec<\/title>\n<meta name=\"description\" content=\"Robot trong thay kh\u1edbp g\u1ed1i to\u00e0n ph\u1ea7n l\u00e0 c\u1ea3i thi\u1ec7n \u0111\u1ed9 ch\u00ednh x\u00e1c, t\u00e1i t\u1ea1o b\u1ec1 m\u1eb7t kh\u1edbp, kh\u1edbp nh\u00e2n t\u1ea1o tr\u00ean ch\u1ee9c n\u0103ng b\u00ecnh th\u01b0\u1eddng c\u1ee7a m\u00f4 m\u1ec1m\" \/>\n<meta name=\"robots\" content=\"noindex, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Ph\u1eabu thu\u1eadt thay kh\u1edbp to\u00e0n ph\u1ea7n b\u1eb1ng robot - 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