Coordinated control of a novel multi-arm robot for maxillofacial surgery

Abstract

The anatomical structure of maxillofacial region is complex, and surgery in this area needs to be of high accuracy and stability. Therefore a novel multi-arm robot was developed to assist such surgery, especially the jaw bone reconstruction surgery. However, operation space was limited and arms of the robot may interfere with each other. Thus, coordinated control for the robot is necessary. In this paper, overview of the whole robot system was introduced. Then, as the main point, kinematics analysis and coordinated control were carried out. Finally, simulation experiments verified the feasibility of the control method.