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Trajectory planning for a 6-DoF manipulator used for orthopaedic surgery

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Abstract

Robots with multiple degrees-of-freedom (DoFs) are being used in the surgical field more frequently over the last decade, not as an alternative but a main method for minimally invasive surgeries. Surgical robots allow surgeons to perform surgical procedures more steadily and more accurately. In this paper, a newly designed 6-DoF manipulator for minimally invasive scaphoid surgery is introduced with its kinematic model. Given the conditions in the operating theatre, especially for the orthopaedic surgery, a sectioned trajectory planning method is proposed in order to prevent the manipulator from colliding with wounded wrist joints. Simulation results show that this approach is well performed to generate a smooth trajectory and ready for clinical trials.

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Abbreviations

T bone.CT :

Transformation matrix of carpal bones frame in the CT scanner frame

T fix.CT :

Transformation matrix of the fixation plate frame in the CT scanner frame

T bone.fix :

Transformation matrix of carpal bones frame in the fixation plate frame

T base.fix :

Transformation matrix of the manipulator base frame in the fixation plate frame

T tool.base :

Transformation matrix of the tool frame in the manipulator base frame

T bone.base :

Transformation matrix of carpal bones frame in the manipulator base frame

P1, P2 :

Entry point (or reference point) and endpoint for guide wire insertion

dirZ :

z-axis orientation of the guide wire

Psz, Pfz :

End points of safety zone and free zone

d in :

Depth of guide wire insertion

d safe :

Pre-planned safe distance

T j :

Time-interval when the jerk is constant during the acceleration or the deceleration phase

T a :

Time-interval of the acceleration phase

T v :

Time-interval of the constant velocity phase

T d :

Time-interval of the deceleration phase

T :

Total duration of the trajectory

q, v, a, j :

Angle, velocity, acceleration and jerk of each joint

p0…pn :

Via-point positions

R1…Rn :

Orientations at each via-point

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Funding

This study has been funded by National Natural Science Foundation of China (51675036) and Beijing Municipal Science and Technology Commission (Z161100001516012).

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Authors and Affiliations

  1. Hsun (Beijing) Technology, Beijing, China

    Qiao Wang

  2. Beihang University, Beijing, China

    Zhanbin Wang & Mei Shuai

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  1. Qiao Wang
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  2. Zhanbin Wang
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Correspondence to Qiao Wang.

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Wang, Q., Wang, Z. & Shuai, M. Trajectory planning for a 6-DoF manipulator used for orthopaedic surgery. Int J Intell Robot Appl 4, 82–94 (2020). https://doi.org/10.1007/s41315-020-00117-4

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