การพัฒนาหุ่นยนต์ขนาน 3 องศาอิสระสำหรับศัลยกรรมการเจาะกระดูก

Abstract

Remote center of motion mechanism is useful in robot-assisted surgical bone drilling because it offers an advantage of having the end link to move around a fixed point located outside its base, which is known as the remote center of motion (RCM). When the RCM is placed at the bone surface, the drill can be oriented at the desired drilling angle without changing the drilling position. For this reason, this independent study focuses on developing a mechanically constrained remote center of motion parallel mechanism, which has high stiffness and reliability. The kinematics and workspace analysis are conducted for designing and controlling the mechanism. The mechanism can be operated in two modes: manual speed control of the actuated link through a force sensor and automatic position control via a graphical user interface. The end-effector of the mechanism can be rotated around the x-axis within a range of -30 to 30 degrees and around the y-axis within a range of -30 to 30 degrees. Based on experimental verification, it was found that the deviation of the remote center of motion is less than 1 millimeter throughout the entire range of such angular movement.