DESIGN AND STRUCTURAL ANALYSIS OF PARASURG-9M PARALLEL HYBRID SURGICAL ROBOTIC SYSTEM

摘要

In the paper the parallel hybrid surgical robotic system PARASURG-9M is presented. The structure contains two modules: a robotic arm PARASURG 5M with five degrees of freedom (DOF), and an active robotized surgical instrument PARASIM with four DOF. The paper begins with a brief introduction in the approached field and continues with the description of the CAD model of the surgical PARASURG-9M hybrid robot. The structural analysis of the robot, and design considerations are also presented. Key words: Parallel Hybrid Robot, Design, Structural Analysis, Surgical Robotic System, Active Robotized Instrument, Minimally Invasive Surgery (MIS).