Research On Surgical Robot For Long Bone Fracture Reduction

With the rapid development of social economy and the improvement of urbanization,accident fractures caused by transportation,high-altitude fall fractures caused by infrastructure construction,and overweight people and elderly people's broken fractures have shown an increasing trend year by year.The application of robots in the field of surgery overcomes most of the problems of traditional surgery,provides advanced solutions for improving the effectiveness and efficiency of fracture surgery.This paper proposes a low/non-invasive fracture reduction surgical robotic assistance system,including a reduction robot body,a low/non-invasive bone-robot connection device,an auxiliary robot and its quick-change end device,and a supporting surgical bed,in view of the problems of complicated preoperative preparation,large surgical trauma,unavoidable radiation,and poor functional adaptability faced by the current fracture reduction robot.Using of tools such as mechanisms,theoretical mechanics,multi-rigid body kinematics and dynamics,optimization methods,and computer simulation,the research object is designed and analyzed.Combined with experiments to verify and modify the theoretical research.The specific research work of the paper is as follows:1)Research on the overall design and layout of the fracture reduction robot system.Based on the analysis of clinical medical needs,a reduction robot system integrating reduction robot,auxiliary robot,adjustable multi-degree-of-freedom beds and related mechanisms was proposed,and corresponding robotic surgical methods were designed.Based on the tenon-and-mortise structure and the principle of the developable mechanism,the modular quick-change end device of the auxiliary robot was designed.The ergonomic method is used to design a special bed with multi-degree-of-freedom for long bone fracture surgery.2)Design and research of low/non-invasive bone-robot connection device based on the principle of variable stiffness.A biomimetic study of fracture reduction techniques was carried out,and a new bone-machine connection device with variable stiffness was proposed using the principle of particle jamming.Based on Newtonian mechanics theory,a simplified model for obtaining bone geometry of patients' bones was established by using Boolean operation method.Based on the theory of Newtonian mechanics,a theoretical analysis model of bone-robot connection failure based on particle jamming was proposed to analyze the failure characteristics of bone-robot connection device.3)Design and optimization of reduction robot body.According to the characteristics of the robot's clinical surgical requirements,the multi-rigid body system analysis and the Kane method were used to analyze the kinematics and dynamics of the parallel mechanism,and the dynamic simulation software ADAMS was used to verify the motion and dynamic characteristics of the robot.The genetic algorithm is used to optimize the size of the mechanism,and the optimal robot mechanism parameters are obtained by MATLAB software calculation.4)Construction and experimental research of related test bench for fracture reduction robot.Bone-robot connection device,reduction robot body and quick-change device were designed and manufactured,the experimental test platform were set up and the corresponding control system established.Experiments on the influence of bone-robot connection device performance,the performance test of the reduction robot and the performance test of the auxiliary robot quick-change device were carried out.The experimental results prove that the design and research in this paper meet the needs of fracture reduction surgery,which can improve the efficiency of surgery,reduce surgical trauma,reduce the radiation to the surgeon,and reduce the surgeon's physical exertion.The experimental results also provide a technical reference for robotic fracture reduction surgery.