Optimal Synthesis of a Surgical Robot Manipulators for Lumbar Stenosis

The paper presents a novel mechanism of a surgical robot for lumbar stenosis, LSRobot. To optimize the mechanism of the robot arm, optimum design method based on multi-factor model, including maximum dexterity, workspace, joint limitation, and configuration orientation of joint variable (COJV), is proposed. The results are useful for the optimum design of the robot manipulator, and provided some helpful revelation to hatch other robots as well. Compared with other approaches, the optimal synthesis method considered more comprehensive and was more readily available. Preliminary experiments show that the proposed surgical robot can be operated with an acceptable degree of positional error