Study On Visual Servo Control System Of Fracture Reduction Robot

The force of muscular tension makes the reduction of long bone fractures become a consumes the physical energy work of doctors,and doctors have difficulty completing that independently.Simultaneously,using traditional methods to reduce fractures,the consistency of treatment accuracy and treatment efficiency is poor,and the risk of iatrogenic injury is difficult to control.Frequent use of X-rays during surgery can also bring unnecessary safety risks to doctors and patients.Based on the above problems,this paper has developed a visual servo-based fracture reduction robot system for assisting doctors to perform long bone fracture reduction surgery.The main research contents are as follows:By analyzing the clinical needs of long bone fracture reduction surgery,a robot mechanism for implementing fracture reduction and a working method of the robot for fracture reduction were designed.Through robot kinematics analysis and dynamics modeling,the robot simulation model was built using Simmechanics and the robot was simulated and analyzed based on Simulink.Furthermore,the controller is established based on the inverse dynamic model of the robot,and the motion control of the robot based on dynamic compensation is realized.Use the Ar Uco calibration board to calibrate the camera,use Open CV to process the image collected by the camera,identify and extract the corner coordinates of the target mark,and calculate the spatial pose of the mark relative to the camera based on the parallax original understanding of the binocular camera.The coordinate system of the fracture reduction robot system based on visual servo was established.Using the transformation relationship of the coordinate system,the indirect measurement of the bone position and posture by the binocular optical camera is realized.We build a prototype of a fracture reduction robot,design and write a graphical control program for the fracture reduction robot.The trajectory planning of the robot was performed in the Simulink environment,and the kinematics simulation of the fracture reduction was also performed.Further,Using the fracture reduction robot system to perform the reduction experiment with the tibia model.By comparing with the simulation results,the reduction errors of the fracture reduction robot are analyzed.The results of the tibial model reduction experiment prove that the system is effective.This study opened up new ideas for the use of robots for fracture reduction surgery and laid the foundation for the clinical application of fracture reduction robots.