ADAMS-based dynamic simulation analysis of surgical robot for pedicle screw placement
10.19745/j.1003-8868.2025140
- VernacularTitle:基于ADAMS的椎弓根置钉手术机器人动力学仿真分析
- Author:
Li-hua YAO
1
;
Zhi-ming CHE
;
Xiang-rui MENG
;
Shi-yang WU
;
Yi-xun FANG
Author Information
1. 浙江理工大学机械工程学院,杭州 310018
- Publication Type:Journal Article
- Keywords:
pedicle screw placement;
surgical robot;
manipulator;
automated dynamic analysis of mechanical systems;
dynamic simulation analysis
- From:
Chinese Medical Equipment Journal
2025;46(8):32-37
- CountryChina
- Language:Chinese
-
Abstract:
Objective To carry out a dynamic simulation analysis on the surgical process of the surgical robot for pedicle screw placement so as to enhance the safety of the procedure.Methods Firstly,the process of pedicle screw placement were analyzed to determine the three typical force conditions during pedicle screw track drilling including no-load condition,bone layer switching condition and spine dynamic displacement condition.Secondly,a virtual protype model of the surgical robot for pedicle screw placement was constructed with the automated dynamic analysis of mechanical systems(ADAMS).Finally,the dynamic characteristics of the surgical robot were simulated and analyzed with considerations on the three typical force conditions.Results The driving torque of the robot joints was sensitive to the load applied to the end of the opener mechanism under a wide range of operating conditions.Conclusion The surgical robot meets the requirements for pedicle screw placment,and a new idea is provided for enhancing the accuracy of pedicle screw placement.[Chinese Medical Equipment Journal,2025,46(8):32-37]
