Abstract
The common serial robot or parallel robot is difficult to implement CT-guided surgery in the limited workspace. A novel hybrid robot with 9-DOF was presented, detail structures of which were analyzed based on screw theory and Displacement Manifold (DM). The dexterity of hybrid robot was provided in terms of Riemann Manifold (RM). The structure of control system was described. DICOM image processing, spatial registration and 3D dynamic reconstruction in the operation planning subsystem were analyzed, some new methods used in which were explained. The architecture of CT-guided robot system and its subsystems were put forward. Simulative clinical experimentation showed that the locating precision of hybrid robot arrived at 1.08mm, which can meet the requirement of clinical cryosurgery.
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