Research on type synthesis of 2T-3R parallel robots for CT-guided surgery

According to the operation workspace limitation and high dexterity requirement of robots for CT-guided surgery, the type selection principle for parallel robots was put forward. With the displacement subgroup-based method for synthesis of displacement manifold motion, the type synthesis of lower-mobility parallel robots for CT-guided minimally invasive surgery was implemented. And the fundamental theory of displacement manifold and displacement manifold based type synthesis approaches were summarized. In terms of the high dexterity of robot, 11 basic displacement manifolds and their 24 sub-manifolds for lower-mobility 2T-3R parallel robots were constructed. 102 types of 2T-3R parallel robots with higher dexterity were deduced and presented. Then the specific structure of the 2T-3R parallel robot designated in this study, namely 2-CSPH parallel robot, were determined, and its characteristics were analyzed. The elementary analysis of the robot's dexterity showed that it could be applied to CT-guided minimally invasive surgery.