Dexterity analysis of radio frequency ablation robot

The radio frequency ablation operation is performed as a means of minimally invasive surgery. In this method, the ablation tool is inserted into the tumor center based on the transcutaneous ultrasonography navigation, then, the surgeons guarantee the toolpsilas point in the tumorpsilas center in entire operations. According to the task of the surgical operation, a small and compact medical robot is proposed based on analyzing dexterous workspace, manipulability and dexterity. Analyzing manipulability and dexterity of the medical robot, which contribute to guarantee the ablator tool can be orientated stably and dexterously.