| With the development of robot technology,surgical robots have become a hot research field,mostly used in the surgical field.However,most surgical robots involved in pelvic fracture mainly have the function of navigation and positioning,and the robot reduction is still in the research stage.Unstable pelvic fracture is one of the most dangerous fractures in the world.Pelvic fracture is usually accompanied by other more dangerous body injuries.In order to save lives,the pelvis can not be corrected in the first time,and the best treatment time for the pelvis is missed.And in order to achieve satisfactory results,the doctor in the pelvic reduction in intraoperative use of X-ray inspection to reset for correction.Doctors are exposed to large amounts of radiation.To overcome the resistance of muscles in patients with surgical action is also very exhausting,so that the pelvis robot reset device research is particularly necessary.This topic comes from the cooperation project of the University of Electronic Science and Technology of China and West China Hospital of Sichuan University.This thesis focuses on the reduction device for C1 pelvic fracture in Tile classification.The main work of this paper is as follows:(1)The development of treatment methods for pelvic fractures and the research status of surgical robots at home and abroad are described.Then the anatomical structure of pelvis is expounded,and the classification of pelvic fracture is introduced.The characteristics of C1 pelvic fracture are defined.After that,the general methods and imaging knowledge of the clinicians are introduced.Using three-dimensional pelvis entities that have been constructed from CT images of clinical patients using Mimics software.Typical motor rotational displacement of pelvic fractures is estimated.(2)The pelvic reduction system is designed.The scheme of using parallel mechanism or series mechanism is analyzed.Kinematics modeling and inverse solution for specific rotation mode of the pelvis are carried out for a prototype of pelvic fracture reduction using a parallel mechanism that has been used for research.The reason of using series manipulator in this paper is expounded.A series robot is investigated and analyzed under the requirements of demand analysis parameters for displacement Angle estimation.A suitable series manipulator is selected and its kinematics modeling is carried out.(3)The advantages and disadvantages of the self-designed six-degree of freedom reset device with three translational and three rotary joints and the full-rotation six-degree of freedom manipulator are compared.For the selected series manipulator,two ideas of connecting the pelvis reset screw to the end of the manipulator are proposed,and the mechanical structure of the manipulator is designed,and the feasibility is proved.The design scheme of the control system is also presented. |
