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Sensors 2016, 16(12), 2022; doi:10.3390/s16122022

Error Analysis and Experimental Study of a Bi-Planar Parallel Mechanism in a Pedicle Screw Robot System

1
School of Mechano-Electronic Engineering, Xidian University, Xi’an 710071, China
2
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China
*
Author to whom correspondence should be addressed.
Academic Editor: Dan Zhang
Received: 30 June 2016 / Revised: 21 November 2016 / Accepted: 21 November 2016 / Published: 30 November 2016
(This article belongs to the Special Issue Advanced Robotics and Mechatronics Devices)
View Full-Text   |   Download PDF [2704 KB, uploaded 9 December 2016]   |  

Abstract

Due to the urgent need for high precision surgical equipment for minimally invasive spinal surgery, a novel robot-assistant system was developed for the accurate placement of pedicle screws in lumbar spinal surgeries. The structure of the robot was based on a macro-micro mechanism, which includes a serial mechanism (macro part) and a bi-planar 5R parallel mechanism (micro part). The macro part was used to achieve a large workspace, while the micro part was used to obtain high stiffness and accuracy. Based on the transfer function of dimension errors, the factors affecting the accuracy of the end effectors were analyzed. Then the manufacturing errors and joint angle error on the position-stance of the end effectors were investigated. Eventually, the mechanism of the strain energy produced by the deformation of linkage via forced assembly and displacements of the output point were calculated. The amount of the transfer errors was quantitatively analyzed by the simulation. Experimental tests show that the error of the bi-planar 5R mechanism can be controlled no more than 1 mm for translation and 1° for rotation, which satisfies the required absolute position accuracy of the robot. View Full-Text
Keywords: robot-assistant spine surgery; bi-planar 5R mechanism; error analysis; dimension error; joint angle error; non-parallelism of the rotation axis robot-assistant spine surgery; bi-planar 5R mechanism; error analysis; dimension error; joint angle error; non-parallelism of the rotation axis
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Duan, Q.; Du, Z.; Yu, H.; Wang, Y.; Dong, W. Error Analysis and Experimental Study of a Bi-Planar Parallel Mechanism in a Pedicle Screw Robot System. Sensors 2016, 16, 2022.

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