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Minimally invasive surgery (MIS) has revolutionised many surgical procedures, however, there are still challenges that impact surgical outcomes. As a result, robotic surgery has become increasingly popular in the medical sector. This paper describes the kinematic design, motor torque requirement analysis, control system development and preliminary precision results for a new, patented, 3R1T spherical parallel robot with a remotely actuated translational degree of freedom for surgical applications.

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Design and Control System Development of a New 3R1T Parallel Robot for Minimally Invasive Surgery

  • 会议论文

  • 发表日期：

    2025年

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  • Aislinn McAleenan,
  • Yinglun Jian,
  • Yan Jin,
  • Dan Sun,
  • Johnny Moore

摘要

Minimally invasive surgery (MIS) has revolutionised many surgical procedures, however, there are still challenges that impact surgical outcomes. As a result, robotic surgery has become increasingly popular in the medical sector. This paper describes the kinematic design, motor torque requirement analysis, control system development and preliminary precision results for a new, patented, 3R1T spherical parallel robot with a remotely actuated translational degree of freedom for surgical applications.