Design and Analysis of a New Remote Center-of-Motion Parallel Robot for Minimally Invasive Surgery.

Surgical robot with a remote center of motion (RCM) plays an important role in minimally invasive surgery (MIS) field. To make the structure more compact and have higher rigidity and accuracy, a new type of parallel surgical robot with three degrees of freedom (DOFs) is developed. The detailed design of the mechanism is provided in the paper. To better study the characteristics of the mechanism, static analysis is proposed in the paper. Firstly, establish the equations of the force and torque through the analysis of the branch and the mobile platform. Next, obtain the expression of the active force and constraining force of the joints. One numerical example is given. In order to analyze the dynamic performance of the UPR-2UPRR system, the Kane method is used to build the dynamic model. The speed, acceleration, partial velocity and partial angular velocity are calculated. Then the dynamic equation is given after analyzing the generalized active force and inertial force. At last, the driving force of each telescopic rod is given.