Vibration Suppression of Craniotomy Surgical Robot Based on Double Arrow Negative Poisson's Ratio Structural Clamp

Vibrations in craniotomy surgical robots reduce precision and safety. This study introduces a clamp with a double-arrow negative Poisson ratio structure to suppress vibrations.

Finite element simulations and skull drilling experiments were conducted to evaluate the vibration reduction of the optimised clamp design compared with the original.

Compared with the original clamp, the double-arrow structure significantly reduced vibration during skull drilling. Specifically, the vibration frequency was reduced by 72.4% on the X-axis, 53.0% on the Y-axis, and 66.9% on the Z-axis. Vibration displacement was also reduced-by 59.0% on the X-axis and 84.5% on the Y-axis. Optimal damping performance was achieved with a lateral spacing of 1.2 mm and longitudinal spacing of 1.37 mm. These results confirm structure's effectiveness in improving vibration stability.

The double-arrow clamp effectively reduces vibration in robotic craniotomy. It improves stability and safety through passive structural design, offering a practical alternative to active control methods.