Abstract: Aiming at low positioning accuracy and difficulty in entering the natural cavity or minimally invasive incision of traditional surgical instruments, a linedriven continuum surgical robot system was designed. Firstly, the composition of the system was introduced, including UR robot arm, Stewart parallel platform, the continuum end effector and force feedback handle. Then, the kinematic analysis of the UR robot arm and the continuum end effector in the system were carried out, and the analysis results were imported into Matlab for simulation. Thereby, the operating space pose of the UR robot arm with different angles and the end effector with different line variations were obtained. Finally, the Monte Carlo method was used to calculate the workspace of the continuum end effector. The results indicate that the UR robot arm expands the workspace of system, and the continuum end effector provides flexible access to a small, no-linear surgical environment. The entire system helps doctors perform surgical procedures and improve medical accuracy.
Key words: minimally invasive surgery; continuum robot; surgical robot; Monte Carlo method