Design And Experimentation Of A Long Tubular Bone Osteopathic Robot Based On An Asymmetric Parallel Mechanism

With the rapid economic development of society,the incidence of fractures caused by traffic injuries,accidents and work-related injuries is increasing year by year.This step relies on the surgeon’s experience and requires a lot of physical effort,so there is a high clinical demand for orthopaedic surgery robots,but the existing osteopathic robots are large and take a long time to fix the broken bone with the robot,which makes clinical application difficult.In this paper,for the first time,an asymmetric parallel mechanism is used as the configuration of the long tubular bone osteopathic surgery robot to carry out the robot mechanism design,workspace and kinematic analysis;control system design,and develop the principle prototype for experimental research,in order to meet the needs of long tubular bone osteopathic surgery,which has a certain adjustment ability of the remaining five degrees of freedom in the direction of the biological force line,and to improve the clamping speed.Firstly,the design requirements of the osteopathic robot were analysed in relation to the characteristics of long tubular bone osteopathic surgery,and a new asymmetric 6-PTRT parallel osteopathic robot solution was used;the workspace of the osteopathic robot was obtained based on the Monte Carlo method,and the matching of the configuration to the requirements was determined.Secondly,a mathematical model of the osteopathic robot is constructed based on the closed-loop vector method and the position inverse solution is obtained analytically;the Jacobi matrix is solved for the asymmetric 6-PTRT parallel robot based on the differential method;the solved Jacobi matrix is used for the singularity analysis of the osteopathic robot and the feasibility of the mechanism is verified.Again,based on the above theoretical research,the proximal module,distal module,drive branch and semi-annular slotted kerf pin speed loading mechanism of the osteopathic surgery robot were designed;the mounting scheme of the osteopathic surgery robot and the surgical bed was designed;an application scenario of the osteopathic surgery robot was planned;the model of the osteopathic surgery robot was simplified using SOLIDWORKS software,and ADAMS software was used to The simulation analysis of the displacement of the robot was carried out to verify the correctness of the theoretical analysis and provide a theoretical basis for the development of the experimental principle prototype.Finally,the experimental principle prototype of the long tubular bone osteopathic robot was developed,and the control system of the osteopathic robot was designed with the STM32 microcontroller as the core processor,and the experimental test of the osteopathic robot’s broken bone docking was carried out,which laid the foundation for the clinical application and development of the osteopathic robot.