Design And Research On The Surgical Robot Of Laminate Grinding

With the continuous improvement of medical level,surgical techniques are constantly improving,allowing doctors to become less and less critical.while the traditional spine surgery is a manual operation completely by the doctor,not only does doctor require a good Psychological quality,but also need to have skilled surgical experience,the doctor in the surgery without little attention will result in wrong operation,so the development of spine minimally invasive surgery can change the instability of the operation of the doctor.Lumbar decompression fenestration is one of the most important surgical procedures in spine surgery.In order to improve the instability of the operational condition by means of subjective judgment and operation experience,this paper mainly designed a kind of appropriately lamina Surgical robotic system for lumbar decompression surgery.Firstly,the structure of the vertebral grinding robot was designed.It mainly consisted of a small manipulator with five degrees of freedom and a feeding device.The three-dimensional modeling,engineering drawing and prototype machining of the grinding device were completed by solidworks.Then,the kinematics analysis of the designed robot is processed.the direct kinematics is carried out by using the DH method.The inverse kinematics is solved by the reverse educing method.The Jacobian matrix of the robot is obtained by the differential transformation method.The robot's working space is analysed by the iterative method.Secondly,the hardware structure of the control system is introduced,and the original parts of the control system are introduced respectively.Then the selection of the servo motor and the reducer is introduced in detail.Finally,the function of the control software is introduced.In order to meet the stability of grinding,the trajectory planning of the grinding path is introduced.The joint space trajectory planning method and the Cartesian space trajectory planning method are introduced respectively.Finally,the cubic spline interpolation in the Cartesian space trajectory planning method is used to Grinding path trajectory planning,and carriedout three times the spline curve simulation verification.