System Design For Orthognathic Aided Robot

In recent years, robot technology and surgical sciences are becoming more and more closely, robot played an important role in medical domain with its flexibility, stability and veracity. Using surgery robot system to assist operating can easy the doctor disorders, expanding the doctor vision and improve the operation accuracy. This paper attempts to construct the orthognathic aided robot system which can help the doctor relocate the upper jaw bone in maxillary advancement surgery based on the classical architecture of design, perception and executing,, implementing the preoperative design digitally. The main researches of this thesis are as follow:(1) Aiming at the maxillary advancement surgery, this paper introduced its surgical procedure and analyzed doctors’ requirement, then presented the technical route of the orthognathic aided robot based on the architecture of design, perception and executing. We divided the operation process into three parts:preoperative designing, intraoperative data matching and executing;(2) This paper analyzed the theory of the 6-DOF robot and the navigation system and built their mathematical models including the D-H modeling method, robot forward kinematics, robot inverse kinematics and the parameters matrix, calibration method and measure principles of the navigation system, these contents are the foundation of system designing and theoretical researching;(3) This paper studied on the error prone links in the operation process, and found the links which are both inevitable and fallible. Then we improved the algorithms of coordinate transformation and surgical instrument calibration. Besides, the chapter four introduced the function and implementation method of the software of the system;(4) The chapter five verified the robot positioning precision, navigation measure precision, coordinate transformation precision and the precision of the entire system by experiments, discussed how the error of every links influenced the system, and analyzed the possible cause of the error.