Design And Analysis Of A Compact Robotic Surgical System For Vertebral Lamina Grinding Task Based On Force Feedback

With the development and maturity of robot technology in industry field,more and more scientific research institutions focus on the application of robot technology in medical industry.The spine surgery robot is one of hot direction.Decompression of vertebral lamina is one of the most common surgical procedures in spine surgery by grinding the lamina of the lesion area to relieve the compression of the spinal nerves.This thesis is devoted to develop a kind of lightweight surgical robot system for vertebral lamina grinding.It can replace the doctor to make fine grinding of the vertebral lamina.At the same time,it can also simulate the doctor's feel in the process of grinding force perception.According to the clinical requirement of vertebral lamina decompression operation,we designed a kind of 4 degree of freedom series manipulator to drive the medical bone drill,the head of the bone drill grinding lamina by rotating.The mechanical arm and the bone drill through the 6 axis force / torque sensor is connected to a force feedback system.At the same time,we construct the robot motion control system.The system can receive the trajectory planning information of the image navigation system and can realize the analysis and processing of the force feedback signal.Finally,the force feedback type of the robot system is formed.In order to control the motion of the robot,the kinematics and workspace of the robot are analyzed.According to the structure characteristics of the robot,the forward and inverse kinematics of the robot is analyzed by using D-H method.The working space of the robot is analyzed by using the Monte Carlo method.The Jacobi matrix of the robot is calculated by the vector differential method.In order to ensure the remaining amount of the vertebral lamina grinding,we propose a force feedback control strategy based on fuzzy control according to the stress characteristics of clinical bone drill at the contact end and the lamina.Through the experiment data of the grinding force of three kinds of spinal bone of pigs,sheep and cattle,the perception formula of the state of vertebral lamina grinding was obtained.Force feedback control of a robotic system for laminar grinding operation.Finally,in pigs,cattle,sheep vertebrae three samples of bone surgery robot system for experimental verification.The results of 12 experiments on three samples showed that the grinding allowance of the sample was satisfied with the safety requirements of the operation,and verified the effectiveness of the force feedback control strategy and the feasibility of the system.