Trajectory Planning and Adaptive Fuzzy PID Control for Precision in Robotic Vertebral Plate Cutting: Addressing Force Dynamics and Deformation Challenges

摘要

This study explores trajectory planning and cutting force control for spinal surgical robots, focusing on managing cutting deformation and vibration during vertebral plate cutting—a critical challenge in robotic spinal surgery. Through theoretical analysis, simulation, and experimental validation, the research addresses the complexities of cutting force dynamics and the associated deformations. A dynamic equation for vertebral plate cutting is established, providing a theoretical foundation for trajectory planning. A new trajectory planning method using B-spline curves and an interpolation point constraint formula is introduced, enabling precise robot trajectory control. Additionally, an adaptive fuzzy PID control strategy with force feedback is proposed to dynamically adjust the feed rate, effectively suppressing cutting deformation and vibration in real time. Simulations and experiments validate the effectiveness of these methods in reducing force fluctuations and enhancing control stability. The findings offer valuable guidance for improving the performance and safety of spinal surgery robots, optimizing their trajectories, incorporating dynamic sensing, and enhancing safety controls. Future research should focus on refining control strategies for more complex surgical scenarios and validating their applicability under conditions closer to actual surgical environments. This work provides theoretical and practical insights into advancing robotic spinal surgery, contributing to better surgical outcomes and patient safety.