Modeling and Analysis of Multi-Purpose Hybrid Surgical Robot

摘要

Robotic surgery revolution has not just assisted surgeons to perform complicated surgeries but also increased accuracy, reduced risk, operative and recovery time. Parallel architecture is widely used for designing of surgical robots due to its advantage of low inertia and high precision. But their workspace is confined and limited to specific surgical procedures. In this research work, a hybrid architecture is proposed and its modeling and analysis is presented. This architecture includes both parallel and serial manipulators with six and two degree of freedom respectively. Kinematic analysis of hybrid platform is presented focusing on derivation of inverse kinematics for the surgical tool positioning. Dynamic modelling of hybrid surgical robot is performed in MATLAB Simscape Multibody for analysis and simulation. The positional accuracy of surgical system is achieved using feedback control. Design of hybrid surgical robot shows that the proposed system achieved better positional accuracy and desired workspace. Analysis of torque requirements in dynamic simulation shows that it is achievable for the desired hybrid surgical system.