Design And Analysis Of 7-DOF Craniofacial Surgery Mechanical Arm

As the development of medical technology and robotics, medical mechanical arm attracts more and more attention. Mechanical arm could help a lot in osteotomy, grinding and fixation of craniofacial surgery, which requires high precision and high stability. This paper introduced the design of a 7-DOF Craniofacial Surgery Mechanical Arm used for optical navigation craniofacial surgery operation. The arm is supposed to complete part of the surgical procedure in conjunction with the optical navigation system. The main contents in this paper are as follows:Firstly, the technical requirements of craniofacial surgery were analyzed and the basic concept design idea was given. The detailed mechanical structure of the 7-DOF mechanical arm was designed based on the modular design method.Secondly, the forward kinematics and inverse kinematics of the mechanical arm were discussed, and the Jacobian matrix was given. The workspace"cloud"of the mechanical arm was drawn with MATLAB based on the results of forward kinematics and the"Monte Carlo"method . The structure design parameters were checked.Thirdly, the static analysis of the mechanical arm and the initial selection of the driving unit were done. The dynamics equation was established based on the Lagrange method. Dynamics simulation was carried out with UG / Motion module and the parameters of driving unit were checked based on the simulation results.Finally, the experiment platform was built based on the technical route of multi-DOF robotic arm assisted optical-navigation-guided craniofacial surgery. The prototype of mechanical arm was produced and a series of performance test were done. Surgical operation simulation was also completed on a human skull model.The experiments and theoretical analysis results showed that the mechanical arm meets the requirements of craniofacial surgery and may be tested in real craniofacial surgery occasion.