Kinematic analysis and simulation of a digital guideplate positioning system with six degrees of freedom
                                         WAN Guangyi, CHENG Kangjie, LIU Yunfeng,JIANG Xianfeng, PENG Wei
                           （School of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310014, China）

Abstract: Aiming at the problem that the position of the guideplate in the maxillofacial interventional procedure and the position programmed in the digital design software cannot be accurately matched, the matching strategy of the guideplate obtained by the digital software design and obtained through 3D printing was studied, and the positioning method of the auxiliary guideplate positioning was researched and summarized, a six degrees of freedom digital guideplate system was proposed. The stiffness simulation of positioning system was performed by ABAQUS, and the operating space range was obtained by positive kinematics analysis and Matlab simulation . Finally, the angle and translation distance that the guideplate should be fixed on the system were obtained, and the 3D printing model and the stent test stand were used for error tests. The research results indicate that the stiffness of the positioning system meets the requirements, the operating space meets the actual requirements, and the positioning error is small. The positioning system has high reliability and accuracy.

Key words: kinematics analysis; simulation; stereo positioning; feature point matching