| A passive six degree of freedom osteotomy robot is designed to improve the safety and accuracy of the osteotomy of the mandible,and the risk of operation is greatly reduced.This paper is a study of the osteotomy robot.The main contents are as follows.(1)To study the latest development of mandibular osteotomy navigation robot at home and abroad,and propose a scheme of osteotomy navigation machine.Analysis of the latest progress at home and abroad about mandibular osteotomy navigation robot,as well as the related requirements of mandibular osteotomy for robot design and so on.An angle sensor is provided in the joints of the osteotomy navigation robot.After processing the angle information,the posture of the end scalpel can be displayed in real time.The position relationship between the osteotomy navigation robot and the mandible can be formed by setting the reference point in the patient's mouth,so as to realize the spatial relationship between the shape of the mandible,the mechanical arm and the position of the scalpel on the computer screen,so as to help the doctor to perform the operation accurately.(2)Analysis and refinement of the problems to be solved in mandible osteotomy.In view of the characteristics and requirements of the mandibular osteotomy,the performance requirements of the mandible osteotomy navigation robot are analyzed,and the key technical indicators required for the osteotomy navigation robot are drawn out,such as workspace,flexibility,precision requirements and the convenience of operation.(3)Five principles for configuration selection of osteotomy navigation robots are proposed to achieve the initial configuration.According to the functional requirements of mandibular osteotomy,the number of robot degrees of freedom is determined,and the type of joint is selected to determine the size of the rod.Through the five screening principles,the robot configuration is preliminarily screened.Finally,we explained the structural design of robot joints.(4)Complete the workspace verification of the osteotomy robot for primary selection,the forward and inverse kinematics solutions are verified by simulation.The kinematics model of osteotomy navigation robot is established by D-H.Then,the forward and inverse kinematics of the robot are solved based on the D-H parameter table,and the MATLAB and Robotics Toolbox are used to simulate the forward and inverse kinematics solutions.(5)Complete the workspace validation of the preliminary selection of osteotomy and navigation robot.Using the simmechanic tool cabinet of MATLAB,the workspace of the osteotomy navigation robot is simulated and analyzed,and the size of the workspace is drawn to verify the requirement of the osteotomy of the mandible.(6)The concept of flexibility,flexibility and service ball is used to further optimize the osteotomy navigation robot scheme.By means of the concept of service ball,the flexible working space of the osteotomy navigation robot is solved.By analyzing and comparing the size of the flexibility in the area and area of the flexible space of the robot,it is determined that the configuration Z1X2Y3X4Y5Z6 and the Z1X2Z3Y4X5Y6 can meet the requirements of the osteotomy of the mandible.Through trial production of prototype,it is verified that the motion of jaw navigation robot can be realized by hand driving.The data acquisition of each joint encoder is realized,which lays the foundation for further research. |
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