Spinal biomechanics modeling and finite element analysis of surgical instrument interaction

摘要

When the spinal surgery robot assists the surgeon perform the surgery, the patient is prone on the operating table. However, due to the force of the surgical instruments on the spine, there is a corresponding deformation in the surgical field, which affects the accuracy of the operation. In order to improve the accuracy and safety of the operation, this paper reconstructs the three-dimensional model of the lumbar spine which includes the vertebral body and the intervertebral disc based on the CT scan data, and then the lumbar spine is analyzed by the finite element method. The mathematical model of the relationship between force and displacement is established by using response surface methodology based on the simulation results. After that, the position control system is constructed based on the mathematical model. Through the simulation of the control system, the trajectory curve of the end of the manipulator is compared and the validity of the mathematical model is verified.