Research On Operational Instruments Of Craniotomy Robot

Neurosurgery craniotomy is an important treatment for brain tumors,hemangioma,cerebral edema,cerebral hemorrhage and other diseases.The annual volume of operations nationwide is huge.However,the operation of craniotomy involves complex physiological structures of the surgical area,including central nerves,functional tissues,venous sinuses and other important tissues,making the operation difficult to implement.The surgeon requires high clinical surgical skills and experience.Doctors have a long learning curve and are limited by regional medical conditions.Patients often need to wait a long time before performing surgery and miss the best treatment period.Therefore,the proposed robot system for craniotomy has more important practical significance and clinical application value.Based on the experimental platform of a craniotomy robot,this paper designs a quick-change fixture for the end surgical instruments of the craniotomy robot.The current clinical application of surgical instruments for opening the bone window is applied to the craniotomy robot.Research on the operation instruments of intracranial surgery,and propose special surgical instruments for craniotomy robots,which cooperate with the craniotomy robots to complete intracranial surgery operations.The main contents of this paper are as follows:Firstly,build an experimental platform for a craniotomy robot to conduct preliminary data collection.Research and design of the quick-change fixture for the end of the craniotomy robot,realize the quick change of different craniotomy operation instruments,and analyze the mechanical characteristics to verify the strength and safety of the quick-change fixture of the surgical instrument.Secondly,in response to the actual surgical requirements of the narrow space available for precise intracranial surgery,a 3mm diameter 2-DOF craniotomy robot special surgical instrument was proposed to cooperate with the craniotomy robot to complete the precise intracranial surgery.Perform static analysis of surgical instruments,calculate the overall strength of surgical instruments,ensure the safety of surgical instruments,and provide guarantee for the safety of surgical operations.Thirdly,in precise intracranial surgery,for the precise operation of intracranial surgery that needs to bypass the bulge of the skull or important tissues of the actual operation,a Nitinol concentric tube craniotomy robot instrument was proposed,which improve the front-end freedom and flexibility of surgical instruments to meet actual surgical operation requirements.Perform kinematics analysis on the proposed surgical instruments,establish a constitutive model of nickel-titanium alloy materials,and conduct mechanical analysis to ensure the safety of surgical instruments.Finally,on the basis of the above-mentioned Nitinol concentric tube surgical instruments,the number of concentric tubes was increased to complete the suture task of the skull base dura mater through the nasal passage.According to the three-dimensional reconstruction model of the skull,the configuration of the surgical instrument was analyzed and designed,and the mechanical characteristics were analyzed and calculated to verify the strength and safety of the surgical instrument.