The Structural Design And Control System Research Of The Robotic Scrub Nurse System

The robotic scrub nurse(RSN)is the important part of the intelligent surgery room in the future.Its main role is to share the work of scrub nurses and reduce issues caused by miscommunications between the surgeon and scrub nurse,so as to improve the efficiency of the surgery and reduce the surgery risk to the patient.The subject relies on “the research and application of the intelligent orthopedic clinics equipment in the trauma medical center for the remote areas of Xinjiang” of the 863 projects.Based on requirements of robotics and system solutions,it is focused on the structure design and control issues.Based on the surgical instruments delivery system and the surgical instruments management system,the RSN is presented for the scrub nurse's work.Its main body is consist of Motoman SV3 X robotic arm and surgical instruments storage device.The RSN gets the required surgical instruments information by speech recognition,plans the trajectories of the SV3 X,cooperatively controls the surgical instruments storage device,and delivers the surgical instruments from the target position to the surgeon through the electromagnet gripper.For the discrepancies in the count of surgical instruments,the surgical instruments management system applies the XML and internet is presented based on a personal health record,so the secondary damage caused by the retained instruments to patients can be avoided.For the requirements of surgical instruments in surgeries,the proposal based on classification storage and information storage in the surgery is presented.Then the rotation expanded storage device is designed for requirements of surgical instruments.It is made up by the upper layer structure part and bottom motor-driven part.Its stiffness is analyzed and its material selection is optimized by the Workbench.Then the ADAMDS is applied to analyzing its motion characteristics,flexible modeling of the layer structure and further analyzing its stiffness.The workspace of the SV3 X is analyzed with the D-H method,combined with the surgical instruments storage device,the RSN overall layout is analyzed.In order to achieve the demands of the RSN system,the hardware platform and software platform are built and the functional modules are refined based on the functional modules.To verify the system functions,based on the workspace result and the hardware platformand the soft platform,the test of the functional modules and the experiment of the RSN are designed and completed,and the result shows that the functional modules work well,the RSN can achieve the desired functionality of delivering surgical instruments.