The Design And Research Of The Auxiliary Manipulator For Jaw Gripping In Orthognathic Surgery

In today’s society,more and more people care about their faces,and some people even change their looks by cosmetic surgery.This includes patients with maxillofacial deformities who have to rebuilt their jaws by surgery.With the improvement of the world’s medical level,more mature medical assistant robots have been applied to clinical surgery.In these industries,Da Vinci surgical robots are one of the best in foreign countries,while there are MicroHand S robots in China.As the cost of surgery cost these medical devices is too high,which makes many patients discourage the use of traditional artificial orthodontics.And the traditional artificial orthognathic surgery takes a long time,which makes the orthognathic surgery inefficient,and cannot meet the social needs of China today.Therefore,it is urgent to introduce medical robots for orthognathic surgery to improve efficiency.And there is no specialized manipulator designed for orthognathic surgery both here and abroad.Therefore,it is necessary to conduct research on orthodontic manipulators.First of all,the environmental conditions and demand parameters of the manipulator are determined.Combined with the design experience of the light manipulator,the prototype structure of the manipulator is designed.And the strength analysis and load check of the manipulator as well as the selection of the driving motor and the design of the power transmission scheme are carried out..Secondly,the mathematical model of orthognathic surgery assistant manipulator is established,including the forward kinematics and inverse kinematics analysis of the manipulator.The kinematics simulation of ADAMS manipulator is carried out,and the motion state of the joint is analyzed.The mathematical model of manipulator is built by MATLAB,and the solution formulas of forward kinematics and inverse kinematics are verified.The trajectory planning and space calculation of the manipulator are carried out.Finally,the hardware of the manipulator is designed and selected,including power supply,communication mode,line layout,connection and routing.And using Visual Basic language to write the control software,to complete the debugging of each joint of the manipulator,return to zero and simple track movement.And design relevant experimental methods to verify the accuracy of the manipulator repeated positioning.