Design And Research Of Minimally Invasive Surgery Robot Based On Ergonomics

Minimally invasive surgical robot is an important development direction of information,program-controlled and intelligent medical devices.It is of great significance in politics,economy,culture,military,medical treatment,society and so on.The R & D and clinical trial of minimally invasive surgery robot technology have achieved great success,but while it brings many benefits to patients,there are still many deficiencies in ergonomics,which affect the comfort and accuracy of doctors’ operation,resulting in doctors’ physical discomfort or adverse symptoms.With the product process of domestic minimally invasive surgery robot,this problem is particularly prominent.In order to improve the operating comfort of doctors and improve the safety and accuracy of surgery,this paper has carried out research on human biomechanics and operating comfort of minimally invasive surgical robot.The main contents and results are as follows:(1)Human machine simulation analysis of minimally invasive surgical robot console based on human biomechanics.Firstly,based on ergonomics,the manmachine model is established by using the human biomechanical software anybody,and the man-machine coupling simulation analysis is completed.Secondly,the uniform experimental method is used to design the experimental scheme;According to the operation of doctors,carry out force simulation experiments on legs,waist,neck and hands.Finally,the regression analysis method is used to process and analyze the simulation experimental data,and the ergonomics and design optimization suggestions are obtained,which provides data support for the follow-up robot design research and practice.(2)Experimental research on minimally invasive surgical robot console based on human comfort.Firstly,EMG signals and spatial position information were collected by EMG and NDI magnetic navigator.According to the operation of doctors,EMG experiments and questionnaire survey were carried out on hands,neck,waist and legs;Secondly,using MATLAB to analyze EMG biological signals in time domain to obtain objective data,combined with biomechanical simulation results and subjective scale results of relevant questionnaire survey;Finally,the ergonomic optimization suggestions of minimally invasive surgery robot are summarized to guide the design practice and provide support for the design and R & D of similar products.(3)Design and practice of minimally invasive surgical robot.Firstly,the design of minimally invasive surgery robot is investigated by using semi-structured interview,video action analysis,human-computer interaction analysis and user journey map;Secondly,combined with the man-machine simulation analysis and experimental research results of the above console,the design objectives of the minimally invasive surgical robot are determined,and two design schemes are proposed: Based on the man-machine engineering problems faced by the minimally invasive surgical robot,a more comfortable doctor console is designed for the main purpose of solving doctor operation fatigue,and the prototype production and use effect test are completed;In order to solve the problem of separation between R & D and design and the problem of design timeliness caused by long R & D cycle,a new design idea of minimally invasive surgical robot is proposed and the conceptual design is carried out for the future development of minimally invasive surgical robot.