Research On Orthopaedic Robot Kinematics Simulation And Obstacle Avoidance Trajectory Planning

In orthopedic surgery,robot visual kinematic simulation system and path planning are essential.Compared with traditional orthopedic surgery,robot orthopedic surgery has the advantages of minimally invasive,precise and individualized.In order to improve the success rate,safety and stability of orthopedic surgery,medical surgeons need surgical navigation system robot simulation software to obtain information such as the robot’s processing status,robot posture,and joint rotation angles.Through this information and intuitive 3D simulation The interface is used to judge whether the operation is performed correctly and safely.If an unexpected situation occurs during the robotic operation,such as incorrect robot posture or deviation in the surgical travel route,the medical staff can detect and make proper treatment in time.However,currently the prices of surgical navigation systems and robot simulation software on the market are extremely high,and many robot simulation systems and software are specific and not applicable,which will greatly increase the cost of orthopedic surgery.Therefore,it is necessary to develop a cheap and versatile robot visual kinematics simulation software.During robotic orthopaedic surgery or isolated bone processing,path planning is required for the robot to complete the current surgery or processing.In many orthopedic surgery and isolated bone processing,the "C" trajectory processing is applied,but because the thickness of some bones or parts of the bone is greater than the length of the cutting tool blade,the processing cannot be completed on one side of the bone At this time,the robot needs to be turned to the other side of the bone for secondary cutting.Therefore,in this article,the artificial potential field method and teaching learning method are used to plan the turning path for the two cases of "C" path processing.The details are as follows:(1)The domestic and foreign research status of robot simulation software and trajectory planning are summarized and analyzed.In the current research,although the development of industrial and mobile robot simulation software is relatively mature,there is little research on robot simulation software and orthopaedic robot trajectory planning in the field of orthopedic surgery,especially for path planning issues for orthopedic surgery flipping Basically zero.At present,most of the available robot simulation software on the market are expensive and poorly versatile,so it is necessary to develop a cheap and versatile visualization software for orthopedic robots.(2)Kinematics modeling and analysis of orthopedic robots.The related parameter information of orthopedic surgical robot is introduced,and the reason for choosing UR5 robot as orthopedic surgical robot is given.The D-H parameter method is used to model the robot’s kinematics,and the transformation relationship of each joint is obtained.At the same time,the forward and inverse kinematics of the orthopaedic robot are calculated and analyzed.(3)Build a visualization 3D kinematics real-time simulation platform for orthopedic robots.The simulation platform is based on the OpenGL graphics library and is built under the Visual Csharp platform.The simulation platform consists of three parts:function selection,graphic display interface and data display.Models and scene files required for simulation are created by Solidworks and read in STL format.The purpose of real-time simulation is achieved by establishing communication with the orthopaedic robot,and the simulation is made more realistic by improving the information such as model texture and color.(4)Research on Orbital Robot Flipping Trajectory Planning When Cutting "C" Trajectory.This paper introduces and analyzes the application background of "C" trajectories,and uses the robot visualization 3D kinematics simulation software to obtain the point cloud of the bone model,and uses the sampling method to simplify the point cloud.Mostly,the artificial potential field method is used to obtain a reversing trajectory that can enable the orthopedic robot to complete the inversion and prevent the robot from colliding with the bone.(5)Robot teaching learning based obstacle avoidance trajectory planning.The trajectory planning of the robot is performed using the teaching learning method,and the imitation learning and simulation learning in the teaching learning are calculated and analyzed respectively.At the same time,based on the background of orthopedic robots processing isolated bones,the teaching learning method is applied to the thermal trajectory planning of orthopedic machines to verify the feasibility of teaching learning and the correctness of trajectories.The passive rigid body used in the registration of the bone model and bone processing is used as an obstacle in the research,so that the orthopaedic robot avoids collision with the obstacle during the flipping process.The choice of the basis function quantity is determined by analyzing the difference of the trajectories under different basis function numbers.Finally,learn a teaching trajectory to obtain a trajectory that can complete flipping and avoid collision with obstacles,and analyze and simulate the trajectory.