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

摘要

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