| In recent years,with the changes in production methods,the incidence of spinal diseases has been increasing.Spinal surgery needs to achieve accurate operation in a complex and narrow space,and the human operation risk is great.Surgical robot technology is a new research field of medical engineering and other fields.The advantages of surgical robot and doctors complement each other,which can complete complex operations well and improve the safety and reliability of surgery.In this paper,based on the application background of laminectomy,a 4-DOF laminectomy robot system is designed,and its kinematics,trajectory and simulation research are carried out,and the experimental prototype development,virtual reality scene planning and hardware system platform construction are carried out.Firstly,according to the characteristics of the surgical robot body,a reasonable positioning unit is designed,which is composed of the surgical robot body and the grinding unit The force sensing unit is composed of a mechanical arm and a bone drill connected by a six axis force sensor.Secondly,the standard D-H parameter method is used to analyze the kinematics of the laminar grinding surgical robot,and the mathematical model is established in the MATLAB robot toolbox.The simulation verifies the correctness of the kinematics analysis,and completes the trajectory planning in the simulation;the Monte Carlo method is used to analyze the workspace of the robot,and the differential transformation method is used to calculate the velocity Jacobian matrix of the robot Lagrange equation method is used to complete the dynamic modeling of the lamina grinding surgical robot.On this basis,we carried out the engineering design and development of the real prototype of the laminar grinding surgery robot,completed the parts selection of the experimental prototype of the laminar grinding surgery robot and the production of some non-standard parts,and completed the overall assembly.Finally,combined with virtual reality technology,the virtual operation scene is planned,and the virtual reality prototype platform of vertebral plate grinding surgery robot system is built.The virtual reality technology system is combined with the operation system of lamina grinding robot,and the local fine grinding technology is studied in this virtual reality scene,which solves the problem of dynamic display of lamina grinding in the virtual reality scene.The work of this paper lays the foundation and provides a reference for the research and development of clinical application of laminar grinding surgical robot system and the construction of surgical robot training system based on haptic interaction. |
