Research On Key Technologies Of Medical Puncture Robots

Fetal intrauterine cord Torsion is a difficult problem in the medical field for a long time,which is caused by the activity of the fetus,the umbilical cord will reverse its longitudinal axis,into a spiral shape.Almost every pregnancy of the fetus will produce torsion phenomenon,the number of torsion circle determines the effect on the fetus,once the number of torsion circle is too high,the fetus is more lethal,which also causes great harm to the mother's physical and mental health and feelings.In view of this phenomenon,there are no concrete and effective measures to solve it.In recent years,the number of serious cases of umbilical cord torsion has increased year by year,and addressing this condition has become a hot problem in the medical device world.Medical puncture robot has the advantages of high precision and low trauma,this paper probes into the key technology of medical robot and the preliminary mechanical design of terminal actuator by referring to the end mechanical mechanism of medical puncture robot at home and abroad and the biomechanical knowledge of umbilical cord,aiming at the phenomenon of umbilical cord torsion,to lay the foundation for solving the umbilical cord torsion disease.The specific work and results are as follows:(1)By understanding the cause of umbilical cord torsion and the actual situation of the fetus in the uterus,the technical route is put forward according to the etiology.(2)The size of the blood vessel voids inside the umbilical cord determines whether the fetus is dangerous.In this paper,the mechanical properties of umbilical cord and umbilical artery are obtained by analyzing the structure and material composition of umbilical cord.The stress-strain relationship of umbilical artery is obtained by using open angle analysis method,and then the constitutive equation and boundary condition of umbilical artery is obtained,and the material parameters of constitutive equation are determined by mathematical solution and reference to the experimental material parameters of blood vessels.(3)Based on the survey data,the umbilical cord model is established by Soildworks three-dimensional software,the model is introduced into workbench finite element software,simulated,the stress condition of umbilical cord and the radial displacement of umbilical cord are obtained,and the minimum inner diameter of umbilical artery in a limited time is obtained.(4)The reverse engineering of CATIA is used to establish a 6-month-old fetus,and the ADAMS kinetic simulation software is introduced to apply 1N force to the fetus to rotate the umbilical cord as the rotating axis.The rotation angle of the fetus is obtained within the specified time.(5)The end actuator of the medical puncture robot is designed as a sucker shape,so that it becomes with the fetus under the action of suction,which leads to fetal movement.Make simple equipment,simulate the operation process,verify the feasibility of the end actuator and the correctness of the above force value.