基于力反馈的小型椎板磨削手术机器人设计与分析

发布时间：2018-04-17 21:52

本文选题：手术机器人 + 脊柱手术　；参考：《哈尔滨工业大学》2017年硕士论文

【摘要】：随着机器人技术在工业领域的发展和成熟,越来越多的科研机构着力于机器人技术在医疗行业的应用研究,其中脊柱手术机器人就是一个热点方向。椎板减压手术是脊柱手术中最常见的手术之一,其通过磨削病灶区的椎板来缓解椎板对脊神经的压迫。本文致力于开发一种可实现脊柱椎板磨削的轻型手术机器人系统,其可以替代医生对患者椎板进行精细磨削,同时也可模拟医生的手感,在磨削过程中进行力感知。根据椎板减压手术的临床要求,首先设计一种4自由度串联式机械臂来驱动医用骨钻,骨钻的磨头通过旋转进行椎板磨削。机械臂与骨钻通过6维力/力矩传感器相连接,从而构成力反馈系统。同时构建机器人运动控制系统,该系统可接收图像导航系统的轨迹规划信息并可实现力反馈信号的分析处理。最后形成了力反馈型椎板磨削手术机器人系统。为了控制机器人运动,对机器人的运动学和工作空间进行分析。根据机器人的结构特点,采用D-H法对机器人的正逆运动学进行求解。通过采用蒙特卡罗法对机器人的工作空间进行分析,并通过矢量微分法计算出机器人的雅可比矩阵。为了保证椎板磨削的剩余量,根据临床中骨钻末端与椎板接触处的受力特性提出了一种基于模糊控制的力反馈控制策略。通过对猪、羊、牛三种脊椎骨的磨削力实验数据,得到椎板磨削状态的感知公式,实现椎板磨削手术机器人系统的力反馈控制。最后,在猪、牛、羊脊椎骨三种样本骨上对手术机器人系统进行实验验证。通过三种样本骨的12次实验结果,发现样本的磨削余量均满足手术安全要求,验证了力反馈控制策略的有效性及椎板磨削手术机器人系统的可行性。
[Abstract]:With the development and maturity of robot technology in the industrial field, more and more scientific research institutions focus on the application of robot technology in the medical industry, in which spine surgery robot is a hot direction.Laminar decompression is one of the most common operations in spinal surgery. It relieves spinal nerve compression by grinding the lamina of the focus area.This paper is devoted to the development of a kind of light surgical robot system which can realize the grinding of spinal lamina. It can replace the fine grinding of the patient's lamina by doctors, and can also simulate the sense of the hand of the doctor and carry out force perception during the grinding process.According to the clinical requirements of laminectomy, a 4-DOF series manipulator was designed to drive the medical bone drill, and the grinding head of the drill was rotated to grind the vertebral plate.The manipulator is connected with the bone drill through a 6 D force / torque sensor to form a force feedback system.At the same time, the robot motion control system is constructed. The system can receive the trajectory planning information of the image navigation system and realize the analysis and processing of the force feedback signal.Finally, a force feedback grinding robot system for laminar grinding is developed.In order to control the motion of the robot, the kinematics and workspace of the robot are analyzed.According to the structural characteristics of the robot, D-H method is used to solve the forward and inverse kinematics of the robot.The workspace of the robot is analyzed by Monte Carlo method, and the Jacobian matrix of the robot is calculated by vector differential method.A force feedback control strategy based on fuzzy control was proposed according to the mechanical characteristics of the contact between the end of bone drill and the lamina of vertebrae in order to ensure the residual amount of laminar grinding.Based on the experimental data of grinding force of three kinds of vertebrae, such as pig, sheep and cow, the perceptual formula of the grinding state of vertebral lamina is obtained, and the force feedback control of the robot system of laminar grinding is realized.Finally, the operation robot system was tested on the vertebrae of pig, cow and sheep.According to the results of 12 experiments of three kinds of bone samples, it is found that the grinding allowance of the samples can meet the requirements of surgical safety. The effectiveness of the force feedback control strategy and the feasibility of the robot system for laminar grinding are verified.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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