| Pelvic fractures are a relatively dangerous type of fracture with a high mortality and disability rate.In order to treat pelvic fractures,surgical reduction is necessary,but traditional surgical treatment requires high demands from doctors and heavily relies on subjective judgment.In addition,there is a significant shortage of doctors in remote and backward areas who can perform such difficult surgeries.In order to improve the above issues,this thesis designs a pelvic reduction system to assist doctors in performing pelvic fracture reduction surgery and reduce surgical difficulty.This topic originates from the collaborative project between the University of Electronic Science and Technology of China and West China Hospital of Sichuan University,titled "Research and Development of a Rapid Reduction Device for Unstable Pelvic Fractures and Evaluation of Its Reduction Efficiency." A robotic arm based pelvic rapid reduction path planning and control system was developed for C1 type pelvic fractures in Tile classification,aiming to optimize traditional surgical procedures and assist doctors in completing pelvic fracture reduction surgery.The main work of this thesis is as follows.1.The development history of orthopedic surgical robots at home and abroad and the new products developed in recent years were introduced,and the advantages and disadvantages were analyzed.The characteristics,types and treatment procedures of pelvic fractures were introduced,the characteristics of the research objects were defined,and the optimization strategy of surgical procedures was proposed.Imaging and Open GL related knowledge are introduced,and a brief description of the integrated assimp module for analyzing 3D models is given.2.The overall design of the path planning and control system of pelvic reduction was carried out,the selection of the manipulator of the executive end and the overall framework of the reduction planning software were completed,and the coordinate registration operation was simplified on the basis of theoretical analysis.3.Pelvic reduction path planning and control system were built.In terms of hardware,the machining,installation and debugging of the manipulator fixture are completed,and the degree of freedom is analyzed and verified.At the same time,the TCP setting of the fixture and the calibration of the center of gravity coordinate are completed.In terms of software,the development of basic functions of reset planning software,such as model import,keyboard interaction,distance measurement and model relative reset,has been completed,and the design of manipulator reset control strategy has been completed.4.The feasibility analysis and verification of the designed system were carried out.The forward and inverse kinematics simulation of the UR10 manipulator was completed in MATLAB,and the singularity verification of the reset point set generated by the reset planning software was carried out.The planning trajectory was generated and the smoothness analysis was carried out.Finally,the pelvic model was used to demonstrate the flow of using the system to assist doctors to perform pelvic reset surgery,which verified the feasibility of the system design. |
