Design and Preliminary Experiments of A Spinal Endoscopic Surgical Robot

With the aging of the population, the incidence of spinal degenerative diseases has increased. Percutaneous endoscopic spine surgery as the main means of minimally invasive treatment of spinal diseases has been paid more and more attention. The traditional rigid rod-shaped instruments have the disadvantages of insufficient movement flexibility, high operation difficulty and high risk in a narrow operation space. To solve the above problems, this paper developed a new spinal endoscopic surgical robot, which can provide reference for the development of this kind of robot. Firstly, by analyzing the clinical needs, the rope driven continuum, end clamp and quick change drive interface are designed to meet the requirements of the robot's motion flexibility and compactness. Then, the kinematics model of the robot is established based on the MDH method, and the workspace is calculated and checked. Based on the monocular vision feedback of the manipulator, a fuzzy PID control method is designed to effectively improve the control accuracy of the robot. Finally, an experimental platform is built to carry out the function experiment of each degree of freedom and the end motion control experiment of the robot, which verified the effectiveness of the function and control algorithm of the robot.