A design of surgical robotic system based on 6-DOF parallel mechanism

摘要

A surgical robotic system which can be applied to do the adjustment work of surgical instruments is introduced in this paper, whose purpose is to change the manual operation way to more efficient and automatic way. The procedure of executing a spinal puncture surgery is designed, and the system's mechanical structure is based on 6-dof parallel mechanism which has highly evaluated accuracy and sufficient workspace. Finally, specific experiments are conducted to quantify the accuracy of the adjustments and measure the feedback puncture force.