【作者】 张伟；

【导师】 刘宇；

【作者基本信息】 东北大学 ， 机械工程， 2021， 硕士

【摘要】 随着现代医学体系的健全和医疗技术的发展,医疗外科手术也正在逐渐的向智能化、微创化、精准化的方向发展,基于人工智能和机器人技术的手术机器人已经成功的研发并应用在临床领域。21世纪,手术机器人在骨科中的应用是最具发展前景的技术之一。术前路径规划的合理性将直接影响手术过程中骨材料所受到的切削力和切削温度,从而直接关系着手术的成败和术后恢复。本文以ABB机器人为手术子系统开发了基于3D Slicer平台的图像导航轨迹规划子系统。并且从热力学模型和有限元仿真模型两个方面对骨科手术切削过程中骨材料的切削力和切削温度进行研究,分析了切削力和切削温度的变化规律。为机器人在骨科手术实践中对刀具的选择以及铣削参数的设置提供参考依据。具体内容如下:(1)研究现状及重点难点分析。通过查阅大量文献总结骨切削国内外研究现状,对骨科手术骨切削过程有限元仿真、切削力建模、骨切削机理等问题进行了研究。在骨科手术中切削力和切削温度的控制是骨科手术成败的关键。(2)骨科手术机器人系统分析。阐述了骨科手术机器人系统的构建以及运动学D-H模型的建立。详细阐述了骨科手术机器人关节空间中切削任务与路径规划的转换,并搭建了骨科机器人系统的硬件平台。(3)术前轨迹规划系统的开发。基于3D Slicer平台开发了针对ABB IRB1200机器人的图像导航轨迹规划子系统。并且详细阐述了 ABB IRB1200机器人远程控制模块的设计原理。实现ABB IRB1200机器人与PC端进行通信并发送控制指令。(4)骨材料特性及骨材料热力学模型的研究。从骨材料的生物特性、力学特性、温度特性和几何特性进行了详细的分析。建立骨切削过程中的切削力模型,并且建立了骨材料切削温度场模型,包括切削热模型、温度分布模型和骨材料的热损伤评估等。(5)骨材料切削过程中力和温度的仿真分析。在骨材料切削热力学分析的基础上,建立了切削过程的简化模型。选用Johnson-Cook材料模型,应用切屑分离准则。利用ABAQUS有限元仿真软件模拟了骨材料的三维正交切削过程。仿真分析了不同转速、进给速度等切削参数条件下,医用球头铣刀和医用四刃立铣刀切削骨材料时所产生的切削力和切削温度。为机器人骨科手术中对刀具的选择以及切削参数的设置提供参考依据。(6)结论与展望。结合国内外对相关问题的研究现状以及本研究的实际工作进展,提出了可以在未来开展的相关研究内容。更多还原

【Abstract】 With the improvement of modern medical system and the development of medical technology,medical surgery is also gradually developing to the direction of intelligence,minimally invasive and precision.Surgical robots based on artificial intelligence and robotics technology have been successfully developed and applied in the clinical field.In the 21st century,the application of surgical robot in orthopedics is one of the most promising technologies.The rationality of the preoperative path planning will directly affect the cutting force and cutting temperature of the bone material during the operation,which is directly related to the success or failure of the operation and the postoperative recovery.In this paper,an image navigation trajectory planning subsystem based on 3D Slicer platform is developed with ABB robot as the surgical subsystem.Furthermore,the cutting force and cutting temperature of bone material in the process of orthopedic surgical cutting are studied from Thermodynamics model and finite element simulation model,and the changing rules of cutting force and cutting temperature are analyzed,providing reference basis for the choice of cutter and the setting of milling parameters in orthopedic surgery practice.The specific content is as follows:(1)Research status and analysis of key and difficult points.The current research status of bone cutting at home and abroad is summarized through reviewing a large number of literatures.Moreover,the finite element simulation of bone cutting process,the modeling of cutting force and the mechanism of bone cutting in orthopedic surgery are researched.The control of cutting force and cutting temperature is the key to the success of orthopedic surgery.(2)System analysis of orthopedic surgical robot.The constructions of orthopedic surgical robot system and the kinematics D-H model are described.The transformation between cutting task and path planning in joint space of orthopedic surgical robot is described in detail,and the hardware platform of orthopedic surgical robot system is built.(3)Development of preoperative trajectory planning system.An image navigation trajectory planning subsystem for ABB IRB1200 robot is developed based on 3D Slicer platform.And the design principle of ABB IRB1200 robot remote control module is described in detail.The ABB IRB1200 robot can communicate with PC and send control instructions.(4)Study on the properties of bone materials and the thermodynamic model of bone materials.The biological properties,mechanical properties,temperature properties and geometric properties of bone materials are analyzed in detail.The cutting force model in the process of bone cutting and the cutting temperature field model of bone material are established,including the cutting heat model,the temperature distribution model and the thermal damage evaluation of bone material.(5)Simulation analysis of force and temperature in bone material cutting process.Based on the thermodynamic analysis of bone material cutting,a simplified model of the cutting process is established.The three-dimensional orthogonal cutting process of bone material is simulated by ABAQUS finite element simulation software,with selecting Johnson-Cook material model and applying chip separation criterion.The cutting force and cutting temperature generated by medical ball-end milling cutter and medical four-edge end milling cutter are analyzed by simulated under different cutting parameters such as revolving speed and feed speed,providing a reference for the selection of cutting tools and the setting of cutting parameters in robotic orthopedic surgery.(6)Conclusion and Outlook.Based on the research status of relevant issues at home and abroad and the actual work progress of this study,relevant research contents that can be carried out in the future are proposed.更多还原