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

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