Kinematic Analysis and Experimental Research on Parallel Cable-driven Puncture Surgery Robot

Aiming at the workspace requirements of clinical prostate puncture surgery, this paper deals with the design of a prostate puncture surgery robot based on parallel cable-driven. A parallel cable-driven mechanism is proposed to optimize the compactness of the end-surgical device. Then, to validate the accuracy of motion and the feasibility of the robot, which simulated and analyzed using the Multibody toolbox. Finally, a prototype is designed and experimentally evaluated to validate that the designed parallel cable-driven puncture surgery robot has well motion accuracy and stability in the workspace. In this paper, a puncture surgical robot is designed. Experiments show that the robot can meet the requirements of surgery and has good motion accuracy.