Development Of A Hybrid Driving Force-Sensing Integrated Spinal Surgery Robot

In order to fully expose the operative field,the soft tissue and muscle around the spine should be removed,in traditional open spinal surgery.This kind of operation usually causes patients with long postoperative recovery period,resulting in muscle stiffness,muscle weakness and other sequelae.At the same time,long-term exposure of doctors to radiation also poses a threat to health care workers.With the great market prospect and the promotion of technological progress,robot-assisted minimally invasive spine surgery has gradually received more and more attention.In this paper,with miniaturization and high autonomy as the emphasis of the design,a minimally invasive spinal surgery robot is designed,so that it can complete some surgical operations autonomously and undertake more surgical tasks.It mainly includes the following contents:This paper summarizes the minimally invasive operation of the robot spine through the analysis of the needs of spinal surgery,and gives the corresponding robot technical indicators.The robot configuration is analyzed according to the technical index and the design goal of light reduction.Several alternative configurations with low coupling were analyzed,and a hybrid spinal surgery robot configuration was designed as the final scheme through analysis and comparison.According to the spine surgery index and work space requirements,the design of the key main structural parameters is completed,and the design of the overall mechanical system of the hybrid spinal surgery robot system is completed with an integrated design idea.In order to analyze the controllability of the robot and lay a foundation for the preparation of the control algorithm,this paper further completed the forward and inverse kinematics analysis of the robot according to its configuration,and analyzed the degree of freedom and Jacobian matrix of the robot by using screw theory.The jacobian matrix of Euler angular velocity is derived by using screw theory,and the analytic form of the Jacobian matrix is given.The advantages of low coupling and high controllability of the hybrid robot designed in this paper are further illustrated by the analysis of conditional number.Next,the design of robot perception system is completed.In this paper,generalized joint position feedback and force feedback of robot are analyzed and designed based on the idea of driving perception integration.The integration is mainly reflected in the design of the drive cross sliding table of the parallel part.By integrating the cross sliding table based on the belt drive with its driving force perception scheme and the generalized joint full closed-loop position feedback scheme,a two-degree-of-freedom parallel compliant driving unit is proposed.The unit can realize high precision linear servo control with two degrees of freedom and obtain driving force.It has a certain application prospect.Finally,MATLAB-ADAMS joint simulation analysis verifies the feasibility of the robot in the spinal complex surface control algorithm.According to the simulation results,the prototype robot was further built,the robot control system was designed,the equivalent substitution experiment was designed,and the compliant control performance of the robot was verified.The experimental results are analyzed to provide reference for future improvement.