A trajectory planning method of vertebral plate grinding of spine surgery robot

摘要

Laminar decompression surgery is the most common operation in spinal surgery, and it is also considered to be one of the most risky and most difficult operations. In recent years, medical robots have become a hot topic in assisting doctors in laminar flow grinding operations during spinal surgery. In this paper, a spine surgery robot system is established, and the kinematics analysis, workspace and singularity analysis of the 6-DOF surgical robot are carried out. An efficient motion-constrained grinding strategy plan was formulated. In order to verify the feasibility of the strategy, the two grinding plans were compared through the established spinal surgery robot system. The results showed that the efficient grinding strategy has high efficiency and low heat generation. This method can not only reduce the trauma to the patient's bone tissue, but also improve the overall accuracy and efficiency of bone grinding.