| The advancement of computer technology,imaging technology,information processing technology,and especially robot technology has provided new technical means for high-precision and minimally invasive orthopedic surgery,making orthopedic surgery robots a hotspot in robot research.More than 30 years of research shows that the combination of high-precision control of robots and high-dynamic decision-making ability of human is an effective method to solve the clinical entry of orthopedic surgery robots.The compliance and safety of the robot system have a great impact on the doctor's operate habits and psychological stress during the human-robot cooperative orthopedic surgery.Therefore,improving the compliance and safety of human-robot cooperative orthopedic surgery is a major challenge in the research of orthopedic surgery robot.Based on this,the variable admittance strategy and virtual fixture technology were used to improve the compliance and safety of human-robot cooperative orthopedic surgery and the orthopedic surgery robot system was developed to verify the effectiveness of the proposed method in the study.It mainly includes the following aspects:Firstly,the orthopedic surgery robot system was developed in the study according to the demand of orthopedic surgery,and the software and hardware framework of the robot system was also designed.The robot system interaction interface,control algorithm,kinematics algorithm and sensor acquisition system were developed with VS2010.In the end,the robot was assembled,debugged and calibrated..Secondly,a fuzzy controller with the doctor's force and the velocity of the robot as input and the damping parameter as output was constructed during the dragging process of human-robot cooperative orthopedic surgery.Then the natural motion parameters of the doctor's arm were used as the reference model and the learning mechanism continuously adjusted the damping parameter adjustment rules of the fuzzy controller.Finally,the mapping relationship between the doctor's force and the output velocity of the robot was realized based on admittance control,forming a variable damping admittance control method based on fuzzy reference learning.The experimental results showed that the tracking error of the velocity curve was reduced by 70%and the tracking error of the trajectory curve was reduced by 57%after 10 trainings,which indicated that this method can effectively improve the compliance of human-robot cooperative orthopedic surgery.Thirdly,the natural movement trajectory model of the doctor's arm during the dragging process of human-robot cooperative orthopedic surgery was studied.Based on this,the tube virtual fixture was constructed to ensure the safety of the dragging process.In addition,the robot variable stiffness control method was studied to construct a forbidden virtual fixture to ensure the safety of surgical operation.The experimental results showed that the tube virtual fixture can effectively guide the doctor to drag the robot and limit the surgical tools within the tube to ensure the safety of the dragging process,and the forbidden virtual fixture can limit the doctor's surgical operation within the surgical area to ensure the safety of the operation.Finally,a type test was performed on the orthopedic surgery robot to ensure that the robot meets the orthopedic surgery positioning requirements.Then the pose distance accuracy of the robot was measured by the coordinate measuring machine according to the method specified in the national standard.The results showed that the position distance accuracy and repeatability of robot were at10-1mm and 10-2 mm respectively,the orientation distance accuracy and repeatability were at10-1 degree and10-2 degree respectively.Further clinical trial of anterior cruciate ligament reconstruction surgery was performed,and the results showed that the robot can meet the clinical requirements of orthopedic surgery. |
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