Development of a spherical parallel manipulator for brain surgery applications: preliminary study on the dynamic analysis and verification

Abstract

This study focuses on development, task planning, and dynamic analysis of a previously proposed spherical parallel robot manipulator that is conceptually enhanced to adapt various brain surgery scenarios. Conceptual design of the proposed manipulator was briefly introduced and explained. In order to simulate one of the possible surgery scenarios, a case study of craniotomy was designed along with its trajectory planning. Dynamic analysis of proposed manipulator was performed by Lagrange method, and required actuator torque values were calculated for the desired trajectory. At the end of the study, hardware verification was carried out on the manufactured prototype of the system by comparing both calculated/acquired torque values and desired/actual trajectories. Promising verification results in terms of system dynamics and trajectory execution were introduced.