Design of a Novel Macro-Micro Integrated Brain Surgery Robot Based on Modular Parallel Mechanisms

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The advancement and development of medical surgical robots have provided new technological support for brain surgery and neurosurgical procedures, improving the reliability of highly complex and precise surgeries. In turn, this urges the design and development of novel surgical robots to possess higher precision, stability, and enhanced motion capabilities. In response to this practical demand, this paper introduces a macro-micro integrated medical brain surgery robot system based on the concept of modular PMs (parallel mechanisms), which have a total of 13 active DOFs (degrees of freedom). This system divides the motion process of brain surgery into a large-scale macro-motion space and a small-scale high-precision motion space for design and planning control. The introduction of the design concept that combines multiple modular parallel sub-mechanisms has brought a significant level of decoupling characteristics to the mechanism itself. A comprehensive introduction and analysis of the surgical robot are provided, covering aspects such as design, kinematics, motion planning, and performance indicators. To address the pose allocation and coordination of motion between the macro platform and the micro platform, a pose allocation algorithm based on the decoupling and non-decoupling characteristics in various dimensions of the macro-micro platform is proposed. The designed measurement experiments have demonstrated that the repeatability in positioning accuracy of the macro and micro platform reaches the level of micron and submicron respectively. Practical experiments of motion control and simulated brain electrode implantation validate the excellent performance and stability of the entire surgical robot system. This research contributes innovative insights to the development of medical surgical robot systems, particularly in the domain of mechanism design.