A Guiding Robot for Minimally Invasive Spinal Surgery Based on Parallel Manipulator

摘要

Nowadays, surgical robot has been the research hot spot of the interdisciplinary which includes medical science and robotics field. Surgical robot not only can complete complicated and repetitive work in the radiation and other environment as the substitute of doctor, but also expand doctors capacity of perception and operation, enhancing the operation precision and safety. This paper is based on a three freedom parallel manipulator and considers the characteristics of minimally invasive spinal surgery to design a guiding robot. In this article , the theoretical analysis about kinematics and dynamics is done and the analytic equation is established. The solution to the equation is derived by MATLAB toolboxes. The physical prototype is made based on the solution, the properties of physical prototype are measured and the feasibility of the design is verified.