Mechanism Design and Kinematics Analysis of a Robot Assisted Laryngeal Surgery System

摘要

A master-slave mode robot-assisted laryngeal surgery system is developed,which can effectively avoid the interference of the doctor's operating hands in traditional surgery.Firstly,the mechanism design of the slave is presented in detail based on analyzing and synthesizing the workspace and operation requirements of the laryngeal surgery with laryngoscope.And then the kinematics equations of the two robotic arms are setup to make analysis on the kinematic manipulability.The analysis results show that manipulability of the mechanism isn't affected by the linear translational joint,and the whole system has better manipulability and reliability to satisfy the surgery requirements.