Abstract
An integrated macro-micro medical robot for brain surgery is presented in this paper, aiming to address the challenge of simultaneously achieving high-precision positioning and large-scale motion autonomously. The robot consists of three parallel mechanisms (PMs) connected in series. Among them, two 3PRS mechanisms are connected to form the macro platform, while a 6PSS mechanism independently forms the micro platform. The degree of freedom (DOF) and the forward and inverse kinematics of each individual mechanism and the overall structure have been analyzed. Iterative algorithm system for displacement hierarchy mainly based on damped Newton Method that satisfies the real-time planning and control requirements is established. Additionally, trajectory planning is implemented based on these algorithms, and two modes of a robot force interaction system were developed by combining it with admittance control. Simulation calculations indicate that the solutions meet the accuracy requirements, and planning experiments are conducted to validate the correctness of them. This paper introduces the main components of such a hybrid medical surgical robot system from the perspectives of design, analysis of DOF and kinematics, planning and control.
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Zheng, H., Wang, T., Gao, F., Qi, C., Liu, R. (2023). Kinematics Analysis and Control of a Novel Macro-Micro Integrated Hybrid Robot for Medical Surgery. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14272. Springer, Singapore. https://doi.org/10.1007/978-981-99-6480-2_41
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DOI: https://doi.org/10.1007/978-981-99-6480-2_41
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