Orthopedic surgery robot control method based on kinetic model

Abstract

The invention discloses an orthopedic surgery robot control method based on a kinetic model, and relates to the field of robots. The method comprises the steps: determining the total gravitational moment borne by a to-be-calibrated joint through a coordinate change relation and a gravity vector; taking a coefficient related to the friction force in a stribeck model as a parameter to be identified, and constructing a matrix to be identified; performing iterative solution through an LM algorithm to obtain an initial solution of the matrix to be identified, and taking the initial solution as an initial population of a genetic algorithm; obtaining an iteration result of the matrix to be identified based on the genetic algorithm; substituting the iteration result into the stribeck model to obtain the total friction moment of the to-be-calibrated joint; obtaining the resultant moment of the to-be-calibrated joint; and obtaining a position signal value of a corresponding motor of the to-be-calibrated joint through the resultant moment, and driving the to-be-calibrated joint according to the position signal value. The influence of external force on the positioning accuracy of an orthopedic surgery robot is avoided by calculating the resultant moment, and the stability and the safety are effectively improved.

Description

technical field [0001] The invention relates to the field of robots, in particular to a dynamic model-based control method for orthopedic surgery robots. Background technique [0002] With the continuous improvement of science and technology, more and more robots have entered the medical field, and orthopedic surgery robots are becoming doctors' right-hand assistants through their minimally invasive and fast features. [0003] The main goal of orthopedic surgery robots is to assist doctors to complete specific fine operations in orthopedic surgery. For example, orthopedic surgery robots can complete actions such as osteotomy cutting, grinding and drilling, and clamping and fixing. These operations are performed by robots, which have great advantages On the one hand, because these small operations are relatively simple, orthopedic surgery robots are capable of performing these operations. At the same time, these operations require a certain degree of stability. Using orthoped...

AI Technical Summary

Problems solved by technology

[0004] The current basic working modes of orthopedic surgical robots include manual mode and automatic mode. The manual mode requires an operator to be equipped during the operation, and the operator completes the relevant action operations through the doctor’s oral instructions. It is not as simple as manual operation; the automatic mode has obvious advantages over the manual mode. The orthopedic surgical robot can accept the movement instructions set before the operation to operate, but the existing orthopedic surgical robot cannot actively control itself during the movement process. Position calibration, there is a certain error, so that the standardization and safety of the operation cannot be ensured

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