骨科机器人空间设计方法研究

在分析骨科临床手术环境中各类空间的基础上，用带有约束激活函数的集合对临床空间进行了描述．采用机器人占有空间、医生占有空间、手术对象空间、手术器械占有空间、机器人工作空间、机器人有限灵活空间、误差敏感系数等概念，结合骨科临床手术环境，提出了骨科机器人空间设计的内容和方法．通过空间设计，合理使用骨科机器人的有限灵活空间，可以提高机器人的手术精度，简化机器人的结构，增加机器人的安全可靠性．最后，以双平面骨科机器人的空间设计为例，验证了方法的可行性．

Research on Space Design Method for the Orthopaedic Robot

Based on the analysis of all kinds of spaces in the surgical environment of orthopaedic clinic, the set with constraint-activated functions is adopted to describe clinical spaces. With concepts of the robot occupancy space, the surgeon occupancy space, the surgical object space, the instrument occupancy space, the robot working space, the robot finite dexterity space, the error-sensitive coefficient, etc. , the content and the method for the orthopaedic robot space design are proposed under the surgical environment in the orthopaedic clinic. Through the space design, the finite dexterity space of the orthopaedic robot can be appropriately deployed which can improve the robot surgery precision, simplify the robot structure, and enhance the safety and reliability of the robot. Finally, the feasibility of the method is validated in the practice of space design for the bi-planar orthopaedic robot.