Design and Kinematic Analysis of a Robotics Maxillofacial Surgery System Due to the complex anatomical structure in the skull base and lateral deep facial region, it is difficult to avoid important organizations and easy to cause many postoperative complications in the current surgery. In this paper, a masterslave surgical robot system was designed to solve the problem. The slave manipulator with 5 DOF was proposed, which has a universal interface to mount three kinds of puncture surgical end effectors. Finally, the dexterity calculation and kinematic simulation analysis based on the condition number of the Jacobian matrix were calculated, and the result indicates that this robot has stable motion performance and can meet the demands of puncture surgery.

Development of a Novel Handeye Coordination Algorithm for Robot Assisted Minimally Invasive Surgery * The minimally invasive surgical robot greatly improved surgical OR efficiency, and surgeon manipulates the surgical instruments through masterslave control under the guidance of laparoscope vision. As a mapping of the surgeonu0027s handeye coordination, the coordination between surgical instruments and laparoscope has an important impact on the surgical efficiency and the ergonomics. In this paper, a novel handeye coordination algorithm is proposed for the robot assisted minimally invasive surgery (RMIS). Firstly, a novel cascadecalibration (CC) algorithm structure is proposed to determine the pose relationship between the robot laparoscope arm coordinate system and the robot instruments arm coordinate system. A handeye coordination algorithm is also proposed, which provides accurate masterslave control and improves the surgical operation room (OR) efficiency. We validate the proposed algorithm through two experiments with our minimally invasive surgical robot system. Our experiments demonstrate that the proposed method is competitively effective to induce the handeye coordination for the RMIS.