Research on the design and control strategy of surgical manipulator for knee surgery assistant robot

摘要

This paper designs and completes the manipulator of knee joint surgery assistant robot, and studies its control strategy. The designed manipulator has six joints and one operative end-effector. It can flexibly realize the functions of incision of knee skin tissue, incision of knee joint bone, drilling of knee joint bone and hemostasis of incision. Based on the design of the surgical manipulator, the general transfer equation of the system is deduced, and the natural frequency of the system is solved. The dynamic transfer matrix of the system is obtained, and the corresponding relationship between the dynamic input and output of each joint is obtained. An improved non-dominated sorting genetic algorithm is used for path planning to optimize the path of the end-effector of surgical manipulator in complex environment. This study improves the accuracy of cutting, drilling and hemostasis in knee surgery, optimizes the path of the end-effector, improves the quality and efficiency of knee surgery, and has good practical application value.