Grinding Planning Of Robot-assisted Artificial Cervical Disc Replacement Surgery

This thesis came from the national 863 projects (researches on the robots-assisted surgery systems in artificial cervical disc replacement). The thesis designed a grinding plan system to realize the functions that all the surgery processes were finished by the parallel robots including the grinding operations on the bone surfaces. As a result, the accuracy and quality in the grinding operations can be greatly improved while the risks caused by human factors can be reduced.This thesis did researches on the key technologies of the grinding planning systems in the artificial cervical disc replacement surgery. Firstly, the prospects of the grinding robots assisted surgery planning system were explained. Second, the functions of the robots were defined. Thirdly, this thesis designed special software to make grinding planning. It could build a corresponding bridge between the doctors and the robots controller. The software provided a stage to realize the control and plan system.Parallel surgical robots that were of great significance in the components of the robots assisted surgery directly took part in the procedures of grinding. This thesis did researches on interpolation at the end of the actuators and the inverse kinematics using Stewart robots to realize space line and the plane circular motions in the surgery plan. Also, the thesis proposed a positive solution algorithm which is applied to the position feedbacks. To increase the positioning accuracy, the robots were calibrated based on the optical locators and least squares methods.To realize all the functions, the thesis made a modular, parameterized grinding planning on the basis of all kinds of cervical disc prosthesis. This program could get the patients'skeleton messages using navigation. The cervical disc prosthesis could be adapted by selecting different grinding modules and the parameters of them. Finally, the grinding orbits were selected the special plane and surface grinding modules based on Bryan prosthesis. To support the results, an experiment was done.In the end, the thesis designed a cervical implant based on the Bryan prosthesis. Through the discussions with the doctors, the thesis concluded the evaluation criteria of the Robot-assisted cervical artificial disc replacement surgery medical imaging and made a real surgery on sheep bones using the cervical implant. After the comparison of the X-ray images, a judgment was made.