Development And Design Of A Portable Auxiliary Robot For Facet Joint Surgery

In modern society,orthopedic diseases are common,and arthritis is the most common form of orthopaedic diseases,which has caused great troubles to patients' lives.Its main manifestations are joint stiffness and pain and numbness.In medicine,joint replacement surgery is the main means of treating this condition.In traditional orthopedic surgery,because the difference of bone-density in the joint area,the result of the operation relies too much on the doctor's experience,and it's easy to have the problems,resulting in higher complications and failure rates.So,this paper designs a medical assistant robot for joint surgery,which can improve the accuracy and reliability of joint surgery.At present,the common auxiliary robots for joint surgery are Robodoc?Acrobot,?SpineAssist robot system,and etc.It is aimed at total knee replacement surgery and total hip replacement surgery,but the existing robot systems are large and have operating environment.In addition,when facet joints such as finger joints,infant joints are being diease,the accuracy of these systems are low,which tend to produce higher concurrency.Therefore,this paper decided to have a research and design of a portable robot for facet surgery.Through the investigation and analysis of the literature of orthopedic surgical robot systems at home and abroad,this paper designs a portable master-slave surgical assistant robot system with active constraint function for facet joint disease tissue.The purpose of the system is to repair and replace bone tissues in the diseased facet joints of adults and little child diseased joints.This robot auxiliary system is portable and be less affected by the environment.This paper,which combined with the technical methods of existing orthopedic surgery assistant robots,is determined that the system has the functions of a portable,master-slave,passive navigation,and force sensing system.Surgical assisted robot systems provide active constraint control and use programming instructions to limit the surgical area through preoperative planning to ensure the accuracy of expected movements.They also limit unintended erroneous movements at the same time to restrict surgery to safe and desired areas.This way can be reduced to a minimum during surgery in patient's injury.In this paper,based on the functional analysis of the surgical assistant robot,the design scheme of the portable small joint surgical assistant robot is determined and the overall structure of the robot system is determined through configuration analysis.The robot system provides precise movement of pitch,yaw and linear feed,where the axis of movement intersects at or near a common point to ensure better accuracy.It also highlights the requirements of portability,making the machine compact and easy to take.Then the static simulation of the main parts is carried out to confirm that the design achieve the strength requirements.In this paper,the overall structure is modeled and analyzed by the kinematics D-H method,the forward and reverse kinematics of the robot system are solved,and the kinematics simulation and the robot workspace simulation are carried out through the Robotics Toolbox.Realize the expected surgical trajectory and operating space.This article is based on Simulink software design,through the establishment of Simulink and Arduino platform,complete the communication connection and information transmission of upper and lower computers.Operate and debug portable assistant robotic devices for facet joint surgery,Realize the reading and saving of encoder information and the transmission of sensor signals to ensure the direct control of the motor and achieve the reliability of the device.The performance of the portable robot for assisting small joint surgery was tested.An orthogonal decoding experiment was carried out on the encoder,and the corresponding PWM pulse value was determined by testing the encoder feedback under different PWM conditions to improve the stability of the device.Finally,the device's force feedback is repeatedly tested to comprehensively evaluate the reliability of the device's force-sensing system,and the feasibility of the portable facet surgery assisted robot system is verified.