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A Pedicle Screws Surgical Robot (PSSR) can reduce the risk of spinal surgery and improve surgical precision, which plays an important role in promoting the medical care level of spinal surgery. A new type of PSSR is proposed in this paper, and the mechanical structure and its working principle are also introduced. The kinematics model of the robot is derived from D-H notation in order to obtain the forward kinematics, inverse kinematics and workspace of the robot. A control and planning algorithm for the PSSR is carried out. This study can provide the basis for the development of PSSR prototype.