Mechanical design and kinematic analysis of a medical robot assisted maxillofacial surgery

摘要

Since the intricate anatomical structure of the maxillofacial region and the limitation of surgical field and instrument, the current surgery is extremely high risk and difficult to implement. In contrast to traditional manual surgery, the paper introduces a multi-arm medical robot assisted the maxillofacial surgery using the optical navigation. The mechanical design was proposed gradually to satisfy the requirements of high precision, stability and safety in surgery, including the design of robot arm, wrist and the passive joint of the end-effector. In addition, the jacobian matrix with differential method and flexibility analysis based on condition number were displayed to describe the motion performance analysis of the medical robot. Finally the kinematic simulation with forward and inverse kinematics validates the stabile motion regarding displacement, velocity and acceleration, to express that it could be implied in clinic.