Design of A Novel Hybrid Robot for Percutaneous Vertebroplasty

The traditional percutaneous vertebroplasty (PVP) could induce massive radiation and side injuries to the tissues or nerves around the fractured centrum for an inaccurate route plan. In this paper, a novel hybrid robot is proposed to assist the surgeon locate the lesion and give appropriate route plan fast to improve the treatment efficiency of PVP. This hybrid robot has been formed by a combination of a three-coordinate platform and a Stewart platform. Inverse kinematic and route plan method of the robot was introduced. A set of experiments was conducted to evaluate the functioning. The results and the analysis showed that the robot could guide the puncture in PVP operation accurately to avoid the extra adjustment under proper control within specified time.