Manipulator control system for bone harvesting surgery based on digital twin technology

Ronghui Ma; Yusen Li; Ruitian Ling; Wenlong Zhu; Yuqian Zhao

doi:10.1117/12.2688957

18 July 2023 Manipulator control system for bone harvesting surgery based on digital twin technology

Ronghui Ma, Yusen Li, Ruitian Ling, Wenlong Zhu, Yuqian Zhao

Proceedings Volume 12744, Second International Conference on Advanced Manufacturing Technology and Manufacturing Systems (ICAMTMS 2023); 127441P (2023) https://doi.org/10.1117/12.2688957
Event: Second International Conference on Advanced Manufacturing Technology and Manufacturing Systems (ICAMTMS 2023), 2023, Nanjing, China

Abstract

In recent years, medical robots are widely used in clinics due to their advantages of small wounds and fast healing after the operation. This paper aims to study a medical robot for iliac bone harvesting and propose a five-degree-of-freedom manipulator. Firstly, iliac bone harvesting surgery and digital twin technology are introduced from control and application aspects. Secondly, a new method of Webots simulation, TF solution and ROS communication mechanism applied in five-degree-of-freedom manipulator is introduced. Experimental results show that the mechanical arm and the Webots simulation model can move synchronously to the designated position, which makes it more accurate to take out bones.

Citation Download Citation

Ronghui Ma, Yusen Li, Ruitian Ling, Wenlong Zhu, and Yuqian Zhao "Manipulator control system for bone harvesting surgery based on digital twin technology", Proc. SPIE 12744, Second International Conference on Advanced Manufacturing Technology and Manufacturing Systems (ICAMTMS 2023), 127441P (18 July 2023); https://doi.org/10.1117/12.2688957

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