抄録
In this paper, a new mechanism and its analysis of a minimally invasive surgical robot are presented. A new parallel link mechanism was introduced to the robot that we previously developed as a surgical motion base. In this mechanism, the rigidity of the robot was improved by composing both orientational part and linear part as a parallel link mechanism. By introducing a new mechanism, the inertia of the endeffector was decreased and the sterilization process of the surgical instrument can be easier.
