Research On The Control System Of Frame-based Spinal Minimally Invasive Surgery Robot

Robotics into the medical field,changing the traditional surgical methods,to further promote the development of robotics theory.In view of the characteristics of minimally invasive spine surgery and the problems in traditional minimally invasive spine surgery,the research team designed a frame-type series of minimally invasive surgical robotic system to assist doctors in minimally invasive spine surgery.The system includes virtual surgery system,teleoperation system and robot control system.Based on the completion of the framework of the minimally invasive surgical robot,this paper presents a set of high-precision control methods suitable for clinical surgery,the specific content is divided as follows:1)Analyzed the surgical space required for minimally invasive spine surgery,and combined with the characteristics of minimally invasive spine surgery to determine the proper mechanical structure of the frame-type minimally invasive surgical robot.Based on this,the structure of the robot control system is designed,including the hardware structure of the control system,Software structure diagram and flow chart.2)The kinematic model of frame-type minimally invasive robot is established by D-H parameter method,and the inverse kinematics equation of the robot is obtained by algebraic method.Experimental verification of the correctness of the kinematic model,and conduct a virtual surgery system and robot control system overall performance test.3)Analyzed the cause of positioning error of robot,and put forward the modeling method of robot kinematics parameter error model based on end-position error vector of robot,identify the geometric parameter error of kinematic model of frame-type minimally-invasive robot through design calibration experiment,and the real robot kinematics model is obtained.The experimental results show that the calibration method can effectively reduce the absolute positioning error of the frame-based minimally invasive surgical robot.4)Analyze the typical ways of constructing trajectories in joint space and Cartesian space,and design a trajectory planning method suitable for frame-based minimally invasive robot motion control.Trajectory tracking shows that the frame-based minimally invasive surgical robot has good trajectory tracking performance.The above research work has laid a good foundation for the clinical application of the project in the future.The relevant theories and experimental methods in the paper can provide some references for the research of other related robots.