Minimally invasive spinal surgical robot velocity control method

摘要

Vertebral pedicle screw placement is an important part of spine surgery, surgreons hand screw placement turnover rate was higher. With the development of surgical robot and the robot navigation technology, robot surgery applied in surgery became reality. Currently, the main purpose of surgical robot is assisting the doctor to establish trajectory of pedicle screw. These could not exert the high performance of robot on precision and speedy. Compared to conventional industrial robots, the complexity and uncertainty in the surgical environment and security needs of surgery will restrict the robot to complete the operation automatically. This paper establishes velocity field in operative space, completed the simulation and experimental of surgical robot automatic inserting pedicle screw. The simulation results show the velocity field of the control algorithm advantages of minimally invasive spine surgery procedure that can guarantee the integrity of the contour under disturbance conditions and to avoid damage to the nerve root.