The Robust Optimization Design Of Minimally Invasive Spinal Surgery Guidance Equipment Based On The3-RPS Parallel Mechanism

In spinal surgery, vertebral arch grounding pin hole in spinal surgery need, due tothe adjacent to the nerve root and spinal cord, especially in the neck atlas axis surgery,close to the respiratory system and circulation center, have a little bit the immodestycan cause spinal cord or medulla oblongata damage, so to spinal surgery for the highdemand, high precision accuracy, makes the application of robot in the surgery isimminent. Based on the3-RPS parallel mechanism as the foundation, developed anew minimally invasive spinal surgery guidance apparatus. On the subject of theminimally invasive surgery guidance unit3-RPS parallel mechanism analysis ofmechanism; Based on robust optimization algorithm research, consider3-RPS parallelmechanism of the kinematics and dynamics performance, the use of genetic algorithmfor3-RPS parallel mechanism for structure optimization design of parameters.In this paper, according to the specific requirements of the spinal surgery,combined with the characteristics of the parallel mechanism, this paper puts forward aparallel mechanism based on3-RPS new minimally invasive surgical guide device,the use of closed vector method to the agency’s kinematics inverse solution analysisand gives a solution; Evaluated the four different work space and give algorithm; For3-RPS parallel mechanism based on the analysis of the kinematics solution thejacobian matrix, this paper proposes two of the institutional nimbleness analysis indexfunction.Using the commercial finite element software AnsysWorkbench to parallelmechanism dynamics analysis. Use SolidWorks3D entity modeling software to build3-RPS parallel mechanism of the entity model, introduction to the finite elementsoftware AnsysWorkbench, through hinge finite element processing, for3-RPSparallel mechanism, the dynamic model of the modal analysis of the model, it isconcluded that the natural frequency and vibration mode.This paper puts forward a new type of robust optimization design method.Through the Boxbehken experiment design, and the finite element analysis softwareAnsysWorkbench generating the initial experiment sample point. Through the leastsquares fitting the3-RPS parallel mechanism of single response dynamicmathematical model. Using Kriging interpolation and neural network strengtheningmethod to produce new sample point method for robust optimization design. Finally,using the genetic algorithm is used to contain of kinematics and dynamics of the index objective function for the multi-objective optimization.3-RPS parallel mechanism as the foundation, puts forward the minimallyinvasive surgery guidance device configuration scheme, the mechanical structuredesign and control system design, the development of the minimally invasive spinalsurgery guidance device prototype.