Comprehensive Stiffness Modeling and Evaluation of an Orthopedic Surgical Robot for Enhanced Cutting Operation Performance.

IF 3.4 3区 医学 Q1 ENGINEERING, MULTIDISCIPLINARY
Heqiang Tian, Mengke Zhang, Jiezhong Tan, Zhuo Chen, Guangqing Chen
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引用次数: 0

Abstract

This study presents an integrated stiffness modeling and evaluation framework for an orthopedic surgical robot, aiming to enhance cutting accuracy and operational stability. A comprehensive stiffness model is developed, incorporating the stiffness of the end-effector, cutting tool, and force sensor. End-effector stiffness is computed using the virtual joint method based on the Jacobian matrix, enabling accurate analysis of stiffness distribution within the robot's workspace. Joint stiffness is experimentally identified through laser tracker-based displacement measurements under controlled loads and calculated using a least-squares method. The results show displacement errors below 0.3 mm and joint stiffness estimation errors under 1.5%, with values more consistent and stable than those reported for typical surgical robots. Simulation studies reveal spatial variations in operational stiffness, identifying zones of low stiffness and excessive stiffness. Compared to prior studies where stiffness varied over 50%, the proposed model exhibits superior uniformity. Experimental validation confirms model fidelity, with prediction errors generally below 5%. Cutting experiments on porcine femurs demonstrate real-world applicability, achieving average stiffness prediction errors below 3%, and under 1% in key directions. The model supports stiffness-aware trajectory planning and control, reducing cutting deviation by up to 10% and improving workspace stiffness stability by 30%. This research offers a validated, high-accuracy approach to stiffness modeling for surgical robots, bridging the gap between simulation and clinical application, and providing a foundation for safer, more precise robotic orthopedic procedures.

提高切割手术性能的骨科手术机器人综合刚度建模与评估。
为提高骨科手术机器人的切割精度和操作稳定性,提出了一种集成的骨科手术机器人刚度建模与评估框架。建立了包含末端执行器、刀具和力传感器刚度的综合刚度模型。采用基于雅可比矩阵的虚拟关节法计算末端执行器刚度,能够准确分析机器人工作空间内的刚度分布。通过控制载荷下基于激光跟踪仪的位移测量来确定关节刚度,并使用最小二乘法计算关节刚度。结果表明,该机器人的位移误差小于0.3 mm,关节刚度估计误差小于1.5%,与传统手术机器人相比,其数值更加一致和稳定。模拟研究揭示了操作刚度的空间变化,确定了低刚度和过度刚度的区域。与先前的刚度变化超过50%的研究相比,所提出的模型具有优越的均匀性。实验验证证实了模型的保真度,预测误差一般在5%以下。猪股骨的切割实验证明了其在现实世界中的适用性,实现了平均刚度预测误差在3%以下,在关键方向上小于1%。该模型支持刚度感知轨迹规划和控制,可将切削偏差减少10%,并将工作空间刚度稳定性提高30%。该研究为外科机器人的刚度建模提供了一种经过验证的、高精度的方法,弥合了仿真与临床应用之间的差距,为更安全、更精确的机器人骨科手术奠定了基础。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
Biomimetics
Biomimetics Biochemistry, Genetics and Molecular Biology-Biotechnology
CiteScore
3.50
自引率
11.10%
发文量
189
审稿时长
11 weeks
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