Design of a compact 5-DOF surgical robot of a spherical mechanism: CURES

In recent years, several surgical or assistant robots have made a successful debut to surgical theatre. Due to their large size, and high price, there is a growing need for the miniaturization of these surgical robots. In this paper, a design methodology for a compact surgical robot is presented. Considering workspace and force requirements, a simulation and experiments are conducted to determine the design parameters. The compact surgical robot CURES of 5-DOF spherical mechanism is developed from the analysis and its properties are presented.