椎弓根辅助置钉装置设计及其关键尺度参数优化
Design of Pedicle Assisted Nail Placement Device and Optimization of Key Scale Parameters
摘要: 针对传统椎弓根置钉术中感知信息缺失导致置钉准确率不高的问题，本文设计了一种用于椎弓根辅助置钉的装置，并对其关键尺度参数进行了优化。首先，在对椎弓根置钉手术过程分析基础上，提取辅助置钉装置的功能需求，采用双平行四边形远心点机构对机械臂结构进行了设计。其次，基于D-H法建立置钉装置的运动学模型，利用MATLAB进行模型验证，并对置钉装置的工作空间和奇异形位进行分析。最后，以置钉装置的双平行四边形结构的运动可靠度为优化目标，利用多种群遗传算法对其关键尺度参数进行了优化。结果表明：所设计的置钉装置能够满足手术操作的需求，其运动学模型是正确的，并且经过优化后，置钉装置的双平行四边形机构的运动可靠度提升了5.59%，为提升椎弓根置钉手术的智能化、精准化提供一种新的方案。
Abstract: Aiming at the problem of low accuracy of pedicle screw placement due to lack of sensory infor-mation in traditional pedicle screw placement, a device for pedicle assisted screw placement was designed and its key scale parameters were optimized. Firstly, based on the analysis of pedicle screw placement procedure, the functional requirements of the auxiliary screw placement device were extracted, and the structure of the manipulator was designed using a double parallelogram telecentric point mechanism. Secondly, the kinematic model of the nail-setting device was estab-lished based on D-H method, and the model was verified by MATLAB, and the working space and singular position of the nail-setting device were analyzed. Finally, taking the kinematic reliability of the bi-parallelogram structure of the nail-setting device as the optimization objective, the key scale parameters were optimized using the multi-population genetic algorithm. The results showed that the designed nailing device could meet the needs of surgical operation, and its kinematic model was correct. After optimization, the kinematic reliability of the double-parallelogram mechanism of the nailing device was improved by 5.59%, which provided a new scheme for improving the intelligence and precision of pedicle nailing surgery.
文章引用：高炜帆, 姚利华, 赵易达, 杨景, 施新革, 李博. 椎弓根辅助置钉装置设计及其关键尺度参数优化[J]. 建模与仿真, 2023, 12(2): 642-654. https://doi.org/10.12677/MOS.2023.122061

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