Mechanism Design And Optimization Of Stereotactic Operation Robot For Maxillofacial Surgery

Oral and maxillofacial surgery operation is an extremely complex and high-riskorthopedic operation. In our country every year more than11.3patients with oral andmaxillofacial tumors, the medical robot technology is introduced to the maxillofacialsurgery operation, can greatly improve the operation stability, accuracy. So the study ofmaxillofacial surgery robot assisted surgery system is an important field of digital medicalequipment. However, oral and maxillofacial surgery operation for its complexity and highrisk and high requirement for the operation accuracy and stability, the current domestic onlya few hospitals can do the operation. This combination of cranio maxillofacial surgerynational "863Program" precise treatment robot system, the application of robotictechnology in orthognathic surgery operation, the establishment of FARO measuringinstrument registration system, workstation, image processing and robot system. The mainresearch contents are as follows:First, in view of the orthognathic operation tasks and processes, analysis of robotflexible working space, based on the operation and flexibility, puts forward a structurethrough the robot configuration together, the realization of robot flexible positioning andstability. The clinical operation space and the real constraints based on the optimization tothe motion parameter of the robot.Second, for the robot configuration has been determined, the detailed design of eachjoint of robot. Considering different transmission and connection mode, the multifunctionalrobot wrist design of active and passive combination. Based on the finite element analysis,the robot chassis and wrist key support for analysis, to optimize the robot structure, toimprove the rigidity, reduce the quality objective.Third, according to the requirements of orthognathic operation robot accuracy, areanalyzed in detail to optimize the robot accuracy. At the same time positioning systemFARO measuring instrument based on arm of robot, parameter calibration, correction of themotion parameters of the robot. To optimize the precision of the robot.