Two-degree-of-freedom simulation breathing platform and control method thereof

Abstract

The invention discloses a two-degree-of-freedom simulation breathing platform and a control method thereof. The two-degree-of-freedom simulation breathing platform comprises a bottom plate; the vertical plate is vertically fixed on the bottom plate; the Y-axis movement mechanism is mounted on the vertical plate and comprises a Y-axis movement part capable of reciprocating in the Y-axis direction; the horizontal degree-of-freedom mounting frame is fixed on the Y-axis moving part and can reciprocate along with the Y-axis moving part in the Y-axis direction; the X-axis movement mechanism is mounted on the horizontal degree-of-freedom mounting frame and comprises an X-axis movement part capable of reciprocating in the X-axis direction; the platform is fixed on the X-axis moving part; by controlling reciprocating motion of the X-axis motion mechanism and / or the Y-axis motion mechanism, motion adjustment of the platform in the X-axis direction and / or the Y-axis direction is achieved. In the medical use process, operation is easy, flexible and convenient, the structure is compact, cost is low, follow-up movement of position and speed changes can be achieved according to breathing of a patient, and follow-up movement of any breathing amplitude and cycle is achieved.

Description

technical field [0001] The invention relates to the technical field of medical robots, in particular to a two-degree-of-freedom simulated breathing platform and a control method thereof. Background technique [0002] Laminectomy is different from other orthopedic operations. Since the anatomical structure of the spine is located on the central axis of the body, its position will change significantly with the influence of breathing movement, including the position of the vertebral body and pedicle. The impact is greater than that of other surgeries. [0003] Laminectomy is an important means of treating common diseases of the spine such as spinal stenosis. In this operation, the doctor needs to hold the instrument for a long time to perform precise cutting on the lamina, which can easily lead to displacement errors caused by the patient's breathing, thus Affect the accuracy of the operation, and even lead to damage to the spinal cord. An error deviation of more than 2 mm wi...

AI Technical Summary

Problems solved by technology

[0008] (1) The size of the existing scheme to simulate the breathing platform system is too large, which brings inconvenience to the simulation experiment;

[0009] (2) The accuracy of the existing scheme for simulating the breathing platform system is relatively low, which brings a little hidden danger to the accuracy and safety of later clinical operations, and will seriously cause medical accidents such as spinal cord and nerve damage;

[0010] (3) The motor control strategy of the existing scheme to simulate the breathing platform system is relatively poor, and the position control mode is adopted. Although the position accuracy is guaranteed, the speed is not continuous, and there will be a sense of frustration during the movement;

[0011] (4) The motor of the existing scheme to simulate the breathing platform system cannot realize the arbitrary curve movement of the real-time speed change in the speed and position mode

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