Geometric Error Modeling of 6-RSS Parallel Robot for Cervical Spine Grinding

Cervical laminectomy is one of the main methods of decompression of the cervical spine. However, due to the small size of the cervical spine, a high degree of precision is required for the surgeon's operation. Robots are increasingly used in the field of precision surgery by virtue of accurate...

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Bibliographic Details
Published in2023 IEEE 3rd International Conference on Digital Twins and Parallel Intelligence (DTPI) pp. 1 - 5
Main Authors Guo, Jiangzhen, Liu, Jianze, Li, Xianglong, Liu, Jia, Song, Jipeng, Ding, Lixiang
Format Conference Proceeding
LanguageEnglish
Published IEEE 07.11.2023
Subjects
Analytical models
Calibration
cervical spine
Digital twins
error modeling
Kinematics
parallel robot
Parallel robots
Perturbation methods
Surgery
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Summary:Cervical laminectomy is one of the main methods of decompression of the cervical spine. However, due to the small size of the cervical spine, a high degree of precision is required for the surgeon's operation. Robots are increasingly used in the field of precision surgery by virtue of accurate positioning and stable operation, and among them, a 6-RSS parallel robot has a greater potential to be applied to the cervical laminectomy, but the analysis of its geometric error is still inadequate. In this paper, we established the theoretical mechanism model of 6-RSS and analyzed the error model of the robot by a method of perturbation based on the closed-loop kinematic chain to provide theoretical support for the robot accuracy guarantee. The influence of geometric errors to the posture error of the moving platform was analyzed, which can indicate the manufacture process to provide appropriate accuracy.
DOI:10.1109/DTPI59677.2023.10365487