摘要
During the robot-assisted pelvic fracture reduction,the needle-tissue interactive deformation characteristic is not clear,which affects the accuracy of robotic surgery.In this paper,a layered rig-id-flexible coupling model is proposed,and the needle-tissue interactive deformation under the load-ing is analyzed by the Rayleigh-Ritz method,in accordance with the principle of minimum potential energy.The pelvic musculoskeletal tissue is reversely reconstructed,and the structure of the bone is segmented into cancellous bone and cortical bone.The Mooney-Rivlin five-parameter hyperelastic model is used to simulate muscle,and the Ogden hyperelastic model is used to simulate adipose tis-sue.Finite element simulation is performed by loading different magnitudes of forces.The accuracy of the rigid-flexible coupling model is 0.432 mm,which indicates the correctness of the needle-tis-sue interactive deformation theory analysis.
作者
ZHANG Famin
LEI Jingtao
张发敏;LEI Jingtao(School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 200444,P.R.China;Shanghai Key Laboratory of Intelligent Manufacturing and Robotics,Shanghai 200444 P.R.China)
基金
the National Key R&D Program of China(No.2020YFB1313803).
