Research On Fatigue And Upper Limb Support Plate Design Of Robotic Operation In Abdominal Surgery

Robot-assisted minimally invasive surgery is an inevitable trend in the future medical field.Abdominal surgery robot has many advantages,such as high reliability,small surgical wound and so on.It has a wide range of applications and good prospects.However,the research in this paper shows that the doctor's upper limb muscle tension is high when operating the main hand of the abdominal surgery robot,which is easy to cause fatigue injury and has adverse effects on the operation.Therefore,this paper studies muscle fatigue based on surface electromyography(EMG),focusing on the subjective discomfort of surgeons,and constructs a correlation model between muscle fatigue and subjective fatigue.According to the calculation results,the master table of abdominal surgery robot is improved and designed,which has high reference value in reducing the fatigue degree of doctors' master hand,and has important practical significance.A virtual ring experiment designed by Phantom master for robot is used to reflect doctors' operation.Based on the surface electromyogram signals,the electromyogram indexes of deltoid muscle,biceps brachii muscle and radial brachii muscle,such as MPF,MF and ZRC,are collected.The first-order fitted slope P of MPF fluctuation curve is used as the main muscle fatigue characteristic parameter.The orthogonal experimental model was designed according to the RPE value of subjective fatigue and considering its interaction.The deviation calculation and F test of the model results were carried out by programming with matlab,and the R value of the correlation degree was finally obtained.According to the calculation results of correlation degree between different muscle fatigue and subjective fatigue in manual operation,the subjective fatigue of the subjects in the experiment was mainly caused by deltoid muscle fatigue(R=2.997,R=2.6541 after combined error).That is to say,deltoid muscle fatigue can cause operator's subjective discomfort more than other exerting muscles.Furthermore,taking EMG-based fatigue correlation research as the starting point,combined with fatigue texture and ergonomics hazards,the deltoid muscle with heavy load and subjective fatigue was optimized.Aiming at the problem of deltoid muscle fatigue improvement,from the perspective of ergonomics and biomedicine,the function concept analysis,parts drawing and related mechanical size determination of cushion plate fittings are carried out,and the 3D model is constructed by SOLIDWORKS,and the simulation animation is made.Finally,the design products in this paper are reasonable and processable,and the feasibility and validity of the design scheme are proved by the validation experiments.The results showed that the adjustment of the support angle of the cushion plate had different effects on muscle fatigue,and the deltoid muscle was the most significant(F = 5.963,P < 0.001).The fatigue of deltoid muscle was significantly improved when the angle was 30 degrees.Based on the research results of this paper,the optimization of the main table pad accessories can reduce the deltoid muscle fatigue and subjective fatigue in the process of using abdominal surgery robot,and get more comfortable operation experience.The content of fatigue research in this paper can provide a basis for the feasibility and effectiveness of EMG signal acquisition and fatigue correlation analysis in the future,and provide a direction for fatigue related research in the field of medical robots.