脊柱微创手术辅助机器人结构设计与优化

Structural Design and Optimization of the Minimally Invasive Surgery Robot for Spine Surgery

为辅助医生快速精准地完成手术置钉操作,提高脊柱微创手术置钉成功率,设计了以Stewart平台和移动模组为核心的手术辅助机器人。基于机器人三维模型,分析了手术机器人运动学逆解和工作空间。以基于量纲一的可操作度指标为目标函数,以尺寸、姿态工作空间为约束,使用遗传算法对手术机器人中的Stewart平台进行结构参数优化,从而提高了Stewart平台的可操作度指标,改善了手术机器人的性能,给脊柱微创手术机器人的设计提供了理论依据。

In order to assist doctors to complete implanting screws operation rapidly and accurately,improving the success rate of spinal minimally invasive surgery,a surgical assistant robot based on Stewart platform and mobile component is designed. The inverse kinematic model and reachable workspace are analyzed according to the structure of surgical robot. Then taking the invariant manipulability index as the objective function and the dimension and requirement orientation-workspace as the constraint,genetic algorithm is used to optimize the structure parameters of Stewart platform. After optimization,the invariant manipulability index of Stewart platform is increased improving the performance of surgical robot. This article provides a theoretical basis for the design of surgical robot for the minimally invasive spinal surgery.