Design Of Robot System For Orbital Decompression Surgery Based On The Remote Center Of Motion Mechanism

The orbit of the human eye is a cone-shaped bony space with a volume of only about 30 ml.Once the patient suffers from thyroid-related eye disease,it will lead to the increase of fat and the thickening of the extraocular muscle,which will lead to exophthalmos and seriously affect the vision and quality of life of patients.Orbital decompression is an effective treatment.However,there are still a series of problems in orbital decompression surgery,such as complex anatomy,small operating space,inaccurate positioning and the decompression range completely depends on experience.In recent years,the development of orbital surgery tends to be precise and minimally invasive.With the application of robot technology in medical field,the reform of traditional surgical technology becomes possible.In view of the problems existing in traditional orbital decompression surgery and combined with the surgical procedure,a seven-degree-of-freedom surgical robot system based on the remote center of motion(RCM)mechanism was proposed,which could follow the preoperative design to achieve accurate,stable and safe orbital osteotomy,bone grinding and other surgical operations.This paper firstly completed the design of the overall structure,and particularly designed the position adjustment mechanism,RCM mechanism and end-effector mechanism.Then the kinematics of the robot was analyzed by using D-H parameter method and the navigation control system guided by optics was built.After finishing the processing and assembly of the prototype,the special measurement model and method were designed,and laser tracker was used to measure and calibrate the precision of the robot.Then the corresponding precision compensation algorithm was designed according to the analysis results,so as to ensure that the precision of the system can meet the clinical needs.Finally,planning the target trajectory on the simulation software,then the robot was guided by optical navigator to complete corresponding surgical operations to verify the feasibility of the robot system through such model experiments.Based on the requirements of orbital decompression surgery,this paper proposed a surgical robot with high precision and stability,and verified the feasibility of the robot system through the method of precision calibration,as well as the model experiment,which is of great practical significance for the reform of traditional surgery.