Abstract: Aiming at the dynamics problem of 6dof prostate needleinsertion robot, a new type of serial prostate needleinsertion robot was designed and processed as the research object, in view of puncture process of prostate needleinsertion surgical robot, the definition of remote center of motion (RCM) posture adjustment and acupuncture unit actuation were adopted simultaneously for the first time. The unit actuation was equivalent into torsion, while the robot equivalent dynamic model was established. The dynamic equation of the robot was obtained by Lagrange method, and the dynamic simulation analysis and equation validation was carried out by ADAMS and Matlab software, and the motion curve of the tip and the dynamic characteristic curve of each joint were obtained. The results indicate that the correlation coefficients between the analytical curve and the simulation curve of the dynamic equation of each joint are 0.4, 0.75, 0.5, 0.74 and 0.74 respectively, which are in good agreement. On this basis, the model selection and verification of the robot's power components are carried out.
Key words: prostate needleinsertion robot; romote center of motion （RCM）; equivalent dynamic model; Lagrange method