The Research On Motion Planning And Contoling For Minimally Invasive Spine Surgery Robot

With the progress of time, patient put forward higher requirements on medicaltechnology, and robots have won more and more people’s attention for excellentperformance.With robotics, minimally invasive spine surgery can improve theaccuracy and reduce muscle trauma, wich greatly enhance the success rate of surgery.At the same time,intraoperative CT can also be solved in vivo accumulation ofradiation in medical problems.And it also reduces the cost of surgery. It is an urgentdemand in the country and very important. Based on this, the study include:Firstly, with the actual requirements of minimally invasive spine surgery, Ideveloped a reasonable performance indicators and designed a blueprint of the robot.Then the refinement of the final proposal has been done, and seven degrees of freedommanipulator3D-model was completed to verify its feasibility. After that, the optimizedDH method was applicated to solve manipulator kinematics problem, and its closedanalytic solution was got. Then I verified the application of MATLAB RoboticsToolbox. The7-DOF manipulator inverse kinematic algorithms is derived,and theflexibility principle is introduced to determine the objective function,which isminimized to search for the optimal solution. On this basis, I complated the analysisof manipulator workspace and dexterity to optimize the design.In addition, with the study of surgery unstructured work environment modelinganalysis, I complete robot obstacle avoidance algorithm and trajectory planning.Finally,some key technology about the manipulation design has been made out.The integration of joint hollow intelligent was designed.It has the ability to controlperception and power, position, speed and other comprehensive information.Then Icarried out experiments to verify its performance. The joint with a torque sensor wasdesign, with optimizing the size of the finite element analysis. And by the patch,amplifying and filtering circuit design, calibration experiments, it has had the desiredproperties. The virtual prototype robot has been completed to make sure the robotcontrol algorithms be correct, but also for the further research, which builded the foundation of the remote control of the minimally invasive spine surgery robot byvirtual reality environment technology.