Force/position control simulation of robot-assisted fracture reduction

摘要

Robotic assisted fracture reduction surgery has high requirements for safety and reduction accuracy. For the fracture reduction operation by robot, there is a large reduction force and the reduction force directly affects the safety and reduction effect. The closed-loop force/position hybrid control for the femoral fracture by the 6-UPU robot is studied in this paper. Firstly, for the femoral shaft fracture model, the reduction path is planned. Based on analyzing the muscle force of the femoral shaft, the relationship between the reduction force and the robot reduction displacement is established. The inverse kinematics of the 6-UPU robot is derived by vector algebraic method, then the relationship between the motion parameters of each link and the moving platform is established. The closed-loop force/position hybrid control system of the robot-assisted fracture reduction is designed and simulated. The simulation results show that the control system can effectively control the position of the distal end of the fracture. Considering the influence of the reduction force, the system can achieve better reduction accuracy, which is of great significance for the safety control of the fracture reduction robot.