Spinal Surgery Robot Compliance Control And Bone Cutting Surgical Planning

With the development of robot technology, the robot is controlled more and moreprecisely, the function of the realization is more and more. The robot is no longer usein industry, more and more robot used for surgery. In this paper, six degrees offreedom spinal surgery robotic as a research object, spinal surgery robot compliancecontrol and bone cutting surgical planning were studied. The main contents are:(1) The spine surgery robot kinematic was analyzed, and control scheme of therobot was studied. Based on the structural characteristics of the six-degree-of-freedomrobot, the robot kinematics problem was analyzed by DH method. The robot Jacobianmatrix was calculated by vector differential method for robots Singularity Analysisand robot compliance control algorithm calculations. Against positioning of spinalsurgery is difficult, spinal surgery is risky, etc., active and passive control program ofrobot is given, while active and passive control flow is developed.(2) The spine surgery robot compliance control algorithm is studied. Based onthe impedance control algorithm research, force-based impedance control was used inrobot passive control mode. the robot joint driving force was used to achievecompliance control of robot. Through the robot passive drag experiments verifiedforce-based impedance control algorithm can effectively achieve compliance controlof robot.(3) The spinal surgery robot bone cutting surgical planning was studied. For thespine bone structure is too complex to plan surgical path, the CAD/CAM function ofUnigraphics (abbreviated UG) is used to generate G code of the spinal bone grinding.Through the interpretation of the G code can extract safe surgical path.(4) The spinal surgery robot visual simulation and control software was designed.The robot visual simulation software was designed. The software can track the robotmotion, while the software is used to verify correctness of robot inverse kinematicsand feasibility of bone cutting surgical path. Spinal surgery robot control software ofmodular structure was designed to realize the robot motion control, can centrallyprocess data, improve the real-time control system and facilitate human-machineinteraction.