手持式椎板磨削手术机器人设计与优化

Design and Optimization of a Handheld Surgical Robot for Laminar Grinding

摘要

现有接地式椎板磨削手术机器人存在空间占用大、易发生碰撞干涉、设置繁琐以及成本较高等问题,制约了其在临床中的推广应用．针对上述问题,本文设计了一种手持式椎板磨削手术机器人,通过在磨削工具与手柄之间嵌入小型并联机构模块,补偿非期望的手部运动,从而提升手术精度以及机器人对手术环境的适应性．首先,基于并联机构构型建立了机器人运动学模型,分析了运动/力传递性能约束下机器人的优质工作空间．然后,以空间利用率(机器人优质工作空间体积与机器人占用空间的比值)为目标,采用遗传算法对机器人结构参数(动平台半径r、静平台半径R、连杆长度L)进行优化,优化后机器人空间占用减小9.33%,优质工作空间体积增大10.49%．最后,搭建了物理样机并开展了工作空间、定位精度与磨削精度测试实验．实验结果显示：机器人实际工作空间达到预期目标,末端绝对定位精度为0.516 mm,机器人辅助磨削时误差为0.560 mm,而在无机器人辅助时磨削误差为1.380 mm．该研究验证了手持式机器人在椎板磨削辅助方面的可行性,为椎板磨削手术中小型化、高精度机器人系统的设计与应用提供了理论基础与技术支撑．

Abstract

Existing grounded surgical robots suffer from extensive space requirements, collision susceptibility, complex setup, and expensiveness, limiting their widespread adoption for clinical applications. Therefore, a handheld laminar grinding surgical robot was proposed herein. The robot compensated for undesired hand movements by embedding a small parallel mechanism module between the grinding tool and handle, thereby improving surgical accuracy and the robot’s adaptability to the surgical environment. Initially, a robot kinematic model was designed based on the parallel mechanism configuration, and its good workspace was analyzed under constrained motion/force transfer performances. Next, taking the space utilization rate(the ratio of the good workspace volume of the robot to the occupied space)as an objective, a genetic algorithm was used to optimize the structural parameters of the robot(dynamic platform radius r, static platform radius R, and linkage length L), reducing the space occupation of the robot by 9.33% and increasing its quality workspace volume 10.49%. Finally, a physical prototype was constructed and subjected to workspace, positioning accuracy, and grinding accuracy experiments. Results reveal that the actual workspace of the robot satisfies the expected goals and achieves an absolute positioning accuracy of 0.516 mm. Notably, it realizes an error of robot-assisted grinding of 0.560 mm, which is lower than the grinding error of 1.380 mm realized without robot assistance. Overall, this study verifies the feasibility of a handheld robot in vertebral plate grinding, offering a theoretical basis and technical support for designing and applying miniaturized, high-precision robotic systems in vertebral plate grinding surgeries.

关键词

手术机器人 / 并联机构 / 结构设计 / 工作空间 / 参数优化

Key words

surgical robot / parallel mechanism / structural design / workspace / parameter optimization

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基金资助

绍兴市科技计划资助项目(2023A14016)