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As the complex anatomical structure of the maxillofacial region, operation in this area is of high hazard and difficult to implement. Thus, a multi-arm medical robot are designed to assisting maxillofacial surgery and one of the 6-DOF arm of the robot is controlled by Haptic device, which can improve surgical precision and reduce surgeon's strain for tele-robotic surgery. Firstly, overview of the whole system is introduced. Then this paper focuses on the Surgical manipulator, Haptic device and its control Algorithm by inverse kinematics. Finally, the prototype was established and experiments were carried out under the observation of Navigation system to show the robot's smooth running and accurate positioning.