Tongtao Pang
1*
Fuxin Du
3,4*The final, formatted version of the article will be published soon.
ORIGINAL RESEARCH article
Front. Bioeng. Biotechnol.
Sec. Biomechanics
Volume 12 - 2024 |
doi: 10.3389/fbioe.2024.1470069
This article is part of the Research Topic Biomechanical and Biomaterial Advances in Degenerative Diseases of Bone and Joint View all articles
Enhancing the Precision of Continuum Robots in Orthopedic Surgery Based on Mechanical Principles
Provisionally accepted- 1 Qilu Hospital Of Shandong University Dezhou Hospital, No.1166 Dongfanghong West Road, Decheng District, Dezhou, China
- 2 Shandong Institute of Medical Device and Pharmaceutical Packaging Inspection，NMPA Key Laboratory for Quality Evaluation of Medical Materials and Biological Protective Devices, Jinan, China
- 3 School of Mechanical Engineering, Shandong University, Jinan, China
- 4 Key Laboratory of High-Efficiency and Clean Mechanical Manufacture of MOE, Shandong University, Jinan, China
In the field of orthopedic surgery, the notched continuum robot has garnered significant attention due to its passive compliance, making it particularly suitable for procedures in complex and delicate bone and joint regions. However, accurately modeling the notched continuum robot remains a significant challenge. This paper proposes a high-precision mechanical modeling method for the notched continuum robot to address this issue. The flexible beam deflection prediction model based on the beam constraint model is established. The force balance friction model considering internal friction is established. An accurate static model is obtained, which can accurately estimate the deformation and deflection behavior of the robot according to the input driving force. The kinematic model of the notched continuum robot based on the static model is established. This method achieves high accuracy while ensuring computational efficiency. Experimental results demonstrate that the static model's error is only 0.1629 mm, which corresponds to 0.25% of the total length of the continuum robot, which is 66 mm. This research provides valuable insights into the modeling and control of continuum robots and holds significant implications for advancing precision in orthopedic surgery.
Keywords: orthopedic surgery, notched continuum robot, Mechanical modeling, beam deflection prediction model, beam constraint model, kinematics
Received: 25 Jul 2024; Accepted: 19 Sep 2024.
Copyright: © 2024 Pang, Liang, Lin, Zhang and Du. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
* Correspondence:
Tongtao Pang, Qilu Hospital Of Shandong University Dezhou Hospital, No.1166 Dongfanghong West Road, Decheng District, Dezhou, China
Jinkui Liang, Shandong Institute of Medical Device and Pharmaceutical Packaging Inspection，NMPA Key Laboratory for Quality Evaluation of Medical Materials and Biological Protective Devices, Jinan, China
Zechen Lin, Shandong Institute of Medical Device and Pharmaceutical Packaging Inspection，NMPA Key Laboratory for Quality Evaluation of Medical Materials and Biological Protective Devices, Jinan, China
Xubin Zhang, Qilu Hospital Of Shandong University Dezhou Hospital, No.1166 Dongfanghong West Road, Decheng District, Dezhou, China
Fuxin Du, School of Mechanical Engineering, Shandong University, Jinan, China
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