Study on the precise positioning technique of intra-auricular microsurgery robot

Abstract

In order to solve the influence of factors such as the lack of stereo-depth vision and haptic feedback in traditional intraauricular medical surgeries, this paper proposes a robotic approach to intra-auricular microsurgery and realizes precise positioning in intra-auricular surgeries. Vector analysis is used to establish an inverse kinematics model based on the center point of far motion, and the RCM is applied as the immobile point to determine the center position of the robot after motion. Based on the generalized Hamiltonian system, the Hamiltonian function is utilized as the Lyapunov function to reduce cumbersome calculations, and the Lagrangian dynamics method is applied to calculate the microrobot dynamics equations, and the microlocalization operation is accomplished for the robot through the controller. Fifteen in-vivo animal experiments were carried out by collaborating with S Hospital in Shanghai, China, using the intra-auricular surgical robot. The preoperative preparation time ranged from 16 to 46 minutes, and decreased with the increase in the number of surgical experiments. The average surgical time of the 15 cases of intra-auricular surgical experiments in experimental pigs was 32.11 min, and the surgical efficiency was high. The bleeding volume of the experimental pigs was only in the range of 7~26 ml, and all the experimental pigs woke up within 1 hour after the operation, resumed normal feeding smoothly and achieved full recovery within 6~10 days.

Keywords

• vector analysis
• hamilton system
• lagrangian kinetic method
• microsurgical robot
• 68t40