A 6-UPS parallel is adopted to complete mating surfaces grinding of the cervical implant prosthesis instead of the manual surgical instruments in robot-assisted surgery cervical disc replacement system. Therefore, the surgical assistant parallel robot end-effector has better flexibility in some continuous space and best movement and force transmission performance on the moving trajectory beyond reasonable structures and enough degrees of freedom of the grinding movement. In this paper, the dexterity of the surgical assistant 6-UPS parallel robot is analyzed. Firstly, the vector construction method is used to solve Jacobian matrix of the surgical assistant 6-UPS parallel robot, and then the linear velocity and angular velocity dexterity indicators are used to analyze the dexterity of the surgical assistant parallel robot. From the results, the parallel robot movement and force transmission performance degrades away from the surgical space and the cervical vertebra grinding parallel robot has best grinding performance near the center surgical workspace of the moving platform.
Robotic–assisted surgery is a new trend in medicine. To overcome problems in artificial cervical disc replacement surgery, a robot-assisted surgery system which consists of an active 6-UPS parallel robot and its control system, a surgical planning system and an optical tracking system was developed to replace the cumbersome mechanical positioning device. A positioning method for robot-assisted cervical disc replacement surgery will be studied. Firstly, the robot-assisted surgery system is described. Secondly, the coordinate transformation method for robot-assisted surgery positioning is given. Then, a preoperative position and pose planning method is given. Finally, a robot-assisted surgery positioning by using the method in this paper is carried out. The result shows that the robot-assisted surgery positioning method in this paper is an effective method for artificial cervical disc replacement surgery.
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