A Computer-Assisted Preoperative Path Planning Method for the Parallel Orthopedic Robot

Background: Trajectory planning is the premise of control orthopedic robots, which directly related to safety human body. However, date, trajectory robots has been restricted lines and spline curves. This limits flexibility robot leads unsatisfactory performance. In this paper, a method based on improved RRT* B-spline curve proposed in order improve accuracy flexibility. Method: Firstly, combined with shortcomings current methods bone docking task analysis, characteristics for are illustrated, problem described. Secondly, sampling strategy an extension solve optimal algorithm. Meanwhile, selected path smoothing. Thirdly, our robot, kinematics analysis introduced briefly, hypotonic polynomial used fit joint variables. Finally, comparative study RRT*, other algorithms completed, feasibility robot’s verified by algorithm simulation platform simulation. Results: Compared shorter high node utilization shown cut down about 1mm average length increased half utilization. meantime, fitting results accepted, showed good consistency feasibility. Conclusions: revealed that was superior could be parallel some significance fracture deformity correction.