Study Of The Kinematics And Dynamics Of Dual-arm Cooperative Extracorporeal Shock Wave Gravel System

Calculi is a urinary system disease,kidney,ureter and bladder are common parts of calculi production,which seriously affects the life of patients.Extracorporeal shock wave lithotripsy in the treatment of calculi in the process of good safety,calculi removal effect,rapid postoperative recovery,small damage to the body has gradually become the main means of urology treatment of calculi.Ultrasound is a necessary diagnostic method in the treatment of urinary calculi when using extracorporeal shock wave therapy.However,the uneven regional distribution of ultrasonic doctors’ resources,the occupational diseases caused by long working hours and the higher requirements for ultrasonic doctors’ experience are all problems in calculi treatment.These problems restrict the development and application prospect of ultrasonic clinical diagnosis,so a more intelligent ultrasonic equipment is needed to alleviate this pattern.Aiming at these existing problems,this study constructed an in vitro ultrasonic lithotripsy system based on the cooperative manipulator platform,using the manipulator to complete t he B super-examination process,identify and locate the calculi,and then use the manipulator carrying the gravel source to complete the lithotripsy work.In order to improve the working conditions of ultrasound doctors,reduce working pressure,standardize the ultrasonic scanning process.Reduce the user’s requirements for probe proficiency,reduce the barriers to the development of extracorporeal lithotripsy technology.Based on the investigation of clinical ultrasound operation process,the problems in scanning and lithotripsy are transformed into research objectives.In this study,the mechanical arm was used to complete the whole clinical lithotripsy process by using the technical characteristics of high precision,controllable position,traceability,g ood repeatability and cooperation.The technical feasibility of the system is analyzed and verified by establishing a mathematical model of the mechanical arm in the process of calculi scanning,identification,positioning and lithotripsy.Based on the kinematics and dynamics analysis and verification of the manipulator,the model is established by 3D software,and the forward kinematics and inverse kinematics are solved by Matlab software.The motion space of the manipulator is analyzed by using the principle of random distribution in probability and the kinematics formula of the manipulator.According to the inverse kinematics solution and UR5 structure characteristics,the path planning task based on kinematics is carried out.Matlab software is used to establish the dynamic model of extracorporeal shock wave lithotripsy robot.Finally,the Simulink model is built to complete the visual simulation of the gravel system,and the dynamic equation is verified.The path is optimized by genetic algorithm,and the simulation experiment of the system is completed.The simulation results prove that the traject ory planning is reasonable and it has good dynamic characteristics,which lays a foundation for the establishment of the control model of the system.In view of the integrity and continuity of extracorporeal shock wave lithotripsy system,the extracorporeal shock wave lithotripsy robot established in this study has the application prospect,which paves the way for the efficient and orderly deve lopment of the subsequent high level intelligent research and development.