A robot design for trans-oral surgery

The objective of this paper is to describe a new design of a trans-oral surgical robot. The trans-oral robotic surgery system consists of a master device and a slave device. Specifically, the concept of stackable mechanism is applied to design both master and slave devices. Using the stackable architecture, counter-balancing can be achieved over the whole workspace and compact design can be made by locating all motors at the base of the robot. Through simulation, the performance of the trans-oral surgical robot is verified.