Kinematic Analysis and Design of Robot for Cochlear Implant of Perimodiolar Electrode Based on 4-UPU Parallel Mechanism

摘要

During the procedure of the implantation of perimodiolar electrode, the doctor needs to coordinate the operation of the electrode implantation and the extraction of the stylet, and needs to change a certain implantation angle to fit the cochlear labyrinth better. These are judged by experience and hand feeling so that the implantation success rate is very low. In order to realize the precise implantation of the cochlear perimodiolar electrode, a 4-UPU parallel robot for cochlear implant of perimodiolar electrode was designed. The kinematics model of the robot was established and analyzed. The degree of freedom (DOF) of the 4-UPU parallel mechanism was analyzed by the spiral theory. The kinematics mathematical model of the parallel mechanism was established. The correctness of the kinematics solution was verified by the joint simulation of Matlab and Adams. A polar coordinate fast-searching method based on Monte Carlo was proposed to analyze the reachable workspace of the parallel mechanism so as to determine the specific structural parameters of the perimodiolar electrode implanted robot, which provides a theoretical basis for the motion control of the robot.