Development of a robot system assisting artificial cervical disc replacement surgery

Abstract

The problems such as inadequate precision, excessive radiation, over fatigue and other issues urgently need to be resolved in the cervical artificial disc replacement surgery. In this paper, a medical robot system has been developed to replace the fixture system used in the cervical artificial disc replacement surgery. Firstly, the medical robot mechanical design with an active parallel head and a passive serial body assisting the artificial cervical disc replacement surgery is proposed. Then, the workspace analysis and control system design of the parallel robot are presented. Finally, the surgical navigation technologies such as surgical planning, surgical navigation and positioning, and the grinding trajectory planning technologies involved in the robot system assisting the cervical artificial disc replacement surgery are described. It can be seen that the robot-assisted cervical artificial disc replacement surgery has opened up a new way for the cervical disease treatment.