Development of a Maxillofacial Multi-arm Surgery Robot

As the complex anatomical structure of the maxillofacial region, the surgery in this area is high risk and difficult to implement. Therefore, a Maxillofacial Multi-arm Surgery Robot System (MMSRS) was designed to assist surgeons in the operation, which can improve surgical precision and make the doctors away from the heavy manual work. In this paper, the MMSRS was introduced. The mechanical structure and control system of the Maxillofacial Multi-arm Surgery Robot (MMSR) was designed. Forward kinematics and inverse kinematics of the robot were analyzed. Furthermore, considering its application particularity, safety design of the robot was mentioned accordingly. In addition, simulation and experiments were done to test the performance of robotic system. Experiments show that the robot works stably and accurately.