Cable-driven Surgical Micro-invasive Operation Robot Design And Key Technology Research

Surgical minimally invasive surgical robots are especially favored by doctors and patients because of the advantages of small trauma and quick recovery.Minimally invasive surgery is a kind of operation with accuracy and stability.It requires not only the precise positioning ability of robot mechanism,but also the characteristics of high stiffness and vibration resistance,so as to avoid operation instability caused by operative instruments during operation.In this paper,combined with the requirements of clinical work,we carried out the design and research of minimally invasive surgical robot.All the operative joints were designed by the way of wire rope driving.Minimally invasive surgery for minimally invasive surgery of the spine was selected to focus on the design.First of all,according to the design indicators to determine the design of a five degree of freedom of the spinal minimally invasive surgery robot.The selection of electrical components,such as sensors,combined motors,controllers,and so on,is required by the given load,speed,precision and so on.According to the characteristics of the unidirectional force of the wire rope,the line position of the wire rope and the structure of each joint are designed.A six-axis force sensor is installed on the end effector,and force feedback is used to make the operator feel closer to the actual touch.The structure is modeled and refined by SolidWorks software,and the kinematic positive and negative solutions and the workspace analysis are carried out.And before processing the whole parts,a simplified test bed was developed to verify the feasibility of the rope driving scheme.Minimally invasive surgery is facing unprecedented opportunities for development.It has the advantages of high accuracy,accuracy,stability,fatigue,fewer complications,less X-ray exposure,shorter hospitalization time and flexible operation.The rope drive can reduce the quality and cost of the surgical robot,and has the advantages of low noise,no air return,high rigidity,small inertia,smooth transmission and low maintenance cost.It is of great research value to combine the two techniques to develop a minimally invasive surgical robot for the spinal cord.