| With the advances in human medicine theory and the gradual upgrading of medical equipment, medical surgery is undergoing a qualitative leap. In addition, With the opening of the 4 era of industry, people’s lifestyle gradually changing, because the application of new technologies such as computer, robot, and internet are becoming more and more mature. At the same time, the surgical robot system consists of the medical surgical and computer, and robot, it’s also gradually entering the clinical application, and can replace or assist the surgeon to execute the class of complex surgery, such as total knee replacement (TKR) and total hip arthroplasty (THA). But some foreign mature surgical robot systems, such as DaVinci, ROBODOC, CASPAR, the price of these systems are all expensive, and they are still not popular in our country. And about TKR, the domestic representative surgical robot system WATO-II has not been realized the application because of the various technical problems. Therefore, this project was proposed in order to improve the current situation of domestic medical surgery. It is reported that the mature semi-autonomous surgical robot system, its basic functions are as follows:surgical robot and its entity control,3D model reconstruction based on CT image, positioning and navigation based on vision. The purpose of this paper is to achieve the cutting bone action in the robot assisted TKR surgery, for the complete semi autonomous robotic system in the future to laying a solid foundation, which is the first function of the above. In view of the specific development of the subject, include the following sections:First of all, the construction of the robot system assisted by cutting bone during total knee replacement surgery. Contents are as follows:1) The basic concepts and operation process involved in the operation of TKR are briefly introduced; 2) By choosing the appropriate surgery robot and surgery cutting tool, designing the adjustable flexion cutting bone support device to complete construction of the physical environment of the operation platform, and using the C# high-level language based on VS2010, and the opened API interface and TCP/IP communication protocol of the robot to complete the construction of the surgical robot PC control system, and the main function modules of the system are briefly introduced.Secondly, The specific analysis of the cutting bone calibration and trajectory planning during TKR surgical. Contents are as follows:1) For the calibration method of the knee joint bone (tibia, femur, patella) and its specific calibration principle to carry on the detailed analysis; 2) Combined with multiple factors, such as environment, way of performed, ultimate goal, and efficiency of cutting bone to complete trajectory planning of the cutting bone plane.And Then, analysis of the stability in high speed milling cutting bone. Contents are as follows:1) The detailed analysis of basic structure, composition and mechanical properties of the bone; 2) Analysis of main influence reasons of cutting force and vibration on the stability of milling, and then discusses the main cutting parameters of cutting force and vibration; 3) The quantitative analysis of these cutting parameters, and formulate the optimal numerical about them combined with some references.Finally, carry out the experimental demonstration based on the above theoretical analysis. Contents are as follows:1) The workpiece plane (2D and space plane) calibration experiment and comparative analysis of the experimental data; 2) Experimental simulation of cutting bone action use of the candle; 3) Experimental simulation of cutting bone action use of the artificial bone, and make the detailed summaries and analysis for the experimental data.The research content of this paper have got the fully verification by the detailed theoretical introduction and the concrete experiment analysis, that is to say, the ways of the calibration and cutting bone, and the constructed robot assisted TKR system all have practical effective performability. |
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