Study On Parallel Mechanism Surgical Assistance Robot System Based On Optical Navigation

With the development of computer technology?telecommunication and robot technology,the advantage of robot technology is standing out gradually.The application scenarios expanded from traditional industry to medical field.Craniomaxillofacial are densely covered by nerves and blood vessels and its anatomical structure are complicated.Therefore,any kinds of surgical operations in traditional surgeries that are related to craniomaxillofacial are difficult and high-risk.A feasible and brand new method are presented rely on surgical robot.This paper is based on the Young Scientific and Technological Talents of Shanghai Science and Technology Commission named ‘Key Technology Research of Visualization and Self-calibration on Craniofacial Surgery Robot System'.Aiming at the problems of craniofacial surgery,a parallel mechanism surgery assistant robot based on optical navigation is developed,which can assist doctor to complete craniofacial surgery.The following paper is centered on the parallel mechanism surgical assistance robot system and the major achievements are listed below.First,according to the actual clinical requirements of craniofacial surgery and considering various configurations of robot mechanism,a surgical robot scheme of passive arm composed with 6-dof SPS parallel mechanism was proposed.The forward and inverse kinematics solutions and working space of the robot were analyzed to verify the rationality of the design scheme.A prototype of the parallel mechanism surgery assistance robot system was developed successfully,and the simulation experiment verified that the system could meet the functional requirements in craniofacial and maxillofacial drilling operation.Second,based on the actual motion characteristics of actuators in parallel mechanism and considering the characteristics of operation trajectory,the spatial motion of tool's TCP point is divided into translation and rotation.And a new control algorithm of actuator is proposed according to the two different motion modes.Third,in order to improve the positioning accuracy of the end effector on the robot,dynamic calibration is carried out in the process of robot operation.In order to accommodate to the dynamic calibration requirements of the parallel mechanism auxiliary robot and the fact that the actual operators do not necessarily have the calibration technology,a new algorithm for the self-calibration of tool TCP points is proposed.Based on the navigation system of the system,the algorithm realizes the selfcalibration process and greatly simplifies the calibration operation process.Fourth,the function verification of the parallel mechanism surgery assistant robot based on optical navigation was carried out.The actual error of the robot was obtained through the model experiment and then the error was analyzed.