手术机器人患者运动跟随性能评价研究OA

Objective To discuss the evaluation methods of patient tracking performance of surgical robots,analyze the sources of patient movement following deviation based on actual measurements analyse,and solve the measurement problem of this index.Methods A linear motion generating unit was designed which can generate linear reciprocating motion to simulate patient movement.The non-contact spatial position measurement device was used to simultaneously collect the spatial coordinates of the motion generating unit and the robotic arm,and the movement following deviation of the robotic arm in different vector directions during the following process was analyzed.Results This research employed three methods to evaluate the robot's following performance,the results indicateed that maximum deviations often occured at peak velocity moments;following motion was prone to jitter during movement reversals;the direction of following motion deviations primarily originated from the direction of motion.The measurement and analysis of patient follow-up performance were achieved.Conclusion The design of the experimental plan can fully simulate the clinical application status,and the measurement of this indicator can simultaneously pay attention to changes in the direction of movement,position of non-movement direction and posture.